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[isaacsim.zmq.protos] ZMQ Protos#

Version: 1.0.0

ZMQ Protos [isaacsim.zmq.protos]#

The isaacsim.zmq.protos extension owns the protobuf message schemas for the Isaac Sim ZMQ bridge. The .proto files under proto/ are compiled by protoc at build time into:

  • C++ *.pb.h / *.pb.cc, compiled into libisaacsim.zmq.protos.so. The isaacsim.zmq.nodes OmniGraph nodes include these headers and link this library to serialize/parse messages in C++.

  • Python *_pb2.py stubs, shipped alongside this package and re-exported from isaacsim.zmq.protos (e.g. from isaacsim.zmq.protos import Clock, Image, Pose). The bundled protobuf runtime makes them importable on their own — including from the standalone zmq_bridge tool.

Splitting the schemas into their own extension keeps isaacsim.zmq.core free of protobuf (it is purely the ZeroMQ socket transport) and gives producers and consumers a single, shared source of truth for the wire format.

Messages#

Clock, Image (with GpuIpcImage / GpuIpcArray for the CUDA-IPC transport), Pose, JointStates, JointCommand, and UpdatePrimAttribute.

Extending#

Add a new .proto under proto/, register it in premake5.lua’s files { ... } list, and rebuild — this regenerates both the C++ and Python bindings.

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.zmq.protos

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.zmq.protos" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.zmq.protos. Then, toggle the enable control button if it is not already active.

Python API#

class Clock
DESCRIPTOR = <google._upb._message.Descriptor object>
class GpuIpcArray
DESCRIPTOR = <google._upb._message.Descriptor object>
class GpuIpcImage
DESCRIPTOR = <google._upb._message.Descriptor object>
class Image
DESCRIPTOR = <google._upb._message.Descriptor object>
class JointCommand
DESCRIPTOR = <google._upb._message.Descriptor object>
class JointStates
DESCRIPTOR = <google._upb._message.Descriptor object>
class Pose
DESCRIPTOR = <google._upb._message.Descriptor object>
class UpdatePrimAttribute
DESCRIPTOR = <google._upb._message.Descriptor object>