srb isaac — Isaac Sim Utilities & Python REPL

srb isaac (srb isaacsim) wraps the Isaac Sim launcher and Python interpreter.

Usage

srb isaac sim         # Launch the Isaac Sim GUI application
srb isaac python      # Run the Isaac Sim Python interpreter

Use srb isaac python without the app or a scene for scripting and exploration. To attach a REPL to a running simulation, pass --repl to an agent command: zero, rand, teleop, ros, train, eval, or collect.

Put -- after the sub-subcommand to forward remaining arguments verbatim:

srb isaac python -- -m pip list
srb isaac sim -- --no-window
srb isaac sim -- --/app/window/title="My SRB Session"

Before launch, srb isaac sim checks that the resolved launcher is an executable file. If Isaac Sim is unavailable, set ISAACSIM_PATH to the installation containing isaac-sim.sh, or put isaacsim on PATH. Missing, non-file, and non-executable paths produce typed CLI errors.

Aliases

With no further argument, srb isaacsim aliases srb isaac sim and opens the GUI.

Python Example

from srb.core.app import AppLauncher

app = AppLauncher(headless=True).app

import torch
from srb.tasks.manipulation.sample_collection import Task, TaskCfg

env_cfg = TaskCfg(num_envs=4)
env = Task(env_cfg)
env.reset()

for _ in range(50):
    env.step(action=torch.tensor(env.action_space.sample(), device=env.device))

env.close()
app.close()

In-Flight REPL with --repl

Attach a Python REPL to a running simulation with --repl:

srb agent zero --env sample_collection --repl ptpython
srb agent train --algo sbx_ppo --env landing --headless --repl

The background thread preloads env, sim_app, and mute()/unmute() helpers to silence simulator stdout. Choose ptpython (default) or bpython.

SRB_REPL can also enable the REPL:

Explicit --repl takes precedence.

Note: Offline srb agent learn does not launch Isaac Sim, so it has no --repl option.

See Also

• srb agent — agent subcommands that accept --repl
• srb gui — native Rust GUI for SRB