[isaacsim.robot_setup.sysid.ui] System Identification UI (Beta)#
Version: 1.2.2
Overview#
System Identification UI#
Beta: This extension is in beta. Its workflow, run contracts, exported run specifications, and APIs are not guaranteed to stay future compatible.
This extension provides the interactive System Identification window, menus, plots, file pickers, and viewport integration.
It depends on isaacsim.robot_setup.sysid, which owns the headless runtime, run contracts, optimizers, and simulator bridges. Enable only the backend extension for headless workflows; enable this extension for the Tools > Robotics > Asset Editors > System Identification window.
The window follows a six-stage workflow:
Robot selects the articulation, simulation engine, actuator runtime, and controller settings.
Data loads telemetry, previews its channels, and defines training and validation chunks.
Parameters selects the physical parameters and bounds to identify.
Check validates telemetry quality and parameter identifiability.
Solve selects residual weights, optimizer settings, and output/writeback behavior.
Results shows live cost, parameter deltas, residual summaries, sensitivity, and validation metrics.
Run remains disabled until Check has completed for the current robot, data, parameter selection, residual configuration, and check-relevant solver settings. Changing any of those inputs requires a fresh Check. Isaac Sim rollouts also track the timeline state, so Play, Pause, and Stop immediately refresh run readiness.
Start from a recipe when possible. Recipes populate the UI widgets but remain fully editable. Review Outputs & stage changes before solving: optimized parameters are authored to the open USD stage only when writeback is enabled and completes successfully.
For USD-authored explicit Newton actuators, select the corresponding actuator runtime under Advanced simulation settings in the Robot stage. Enable Command delay in Parameters when delay should be identified; the resulting value is quantized to the nearest simulation physics step.
Enable Extension#
The extension can be enabled (if not already) in one of the following ways:
Define the next entry as an application argument from a terminal.
APP_SCRIPT.(sh|bat) --enable isaacsim.robot_setup.sysid.ui
Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.
[dependencies]
"isaacsim.robot_setup.sysid.ui" = {}
Open the Window > Extensions menu in a running application instance and search for isaacsim.robot_setup.sysid.ui.
Then, toggle the enable control button if it is not already active.
Actions in isaacsim.robot_setup.sysid.ui#
ID |
Display Name |
Description |
|---|---|---|
CreateUIExtension:System Identification |
Open System Identification |