OptiTrack (3/3): Isaac wrapper + full sim e2e#376
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The Isaac integration layer that maps a live USD scene onto the NatNet server: catalog/config/frames/manager/scene_setup/ui_extension/usd_bindings, the extension manifest (config/), and the USD schema. Adds the natnet Pegasus launch scripts that spawn the emulator alongside PX4 in Isaac Sim, the isaac unit tests (incl. a float-tolerance loosen on the pose round-trip for float32/USD noise), and the Isaac-wrapper host integration test. scipy + usd-core added for the emulator's USD/pose-sampling tests. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
One dedicated Isaac bring-up (example_one_px4_pegasus_natnet_launch_script + LAUNCH_NATNET=true) that asserts the full NatNet chain: emulator → natnet_ros2 pose_cov >= 5 Hz, then PX4 local_position alive (EKF2 fusing the vision). Its own `optitrack` mark + _MODULE_ORDER slot — deliberately NOT a third parametrized sim, so the generic liveliness/sensors/flight suites aren't re-run under NatNet. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Add the NatNet emulator Isaac Sim documentation (docs/simulation/isaac_sim/ natnet_emulator.md) and the optitrack-development agent skill covering the emulator, natnet_ros2, and the NatNet wire-protocol handshake. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Version-increment gate for the Isaac wrapper PR (base natnet-server alpha.10). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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3 of 3 in the OptiTrack split. Stacked on 2/3 (
optitrack-natnet-server)..../emulator/isaac/**): maps a live USD scene onto the server (catalog/config/frames/manager/scene_setup/ui_extension/usd_bindings) + extension manifest + USD schema + the natnet Pegasus launch scripts.scipy+usd-coredeps.tests/system/test_optitrack_e2e.py(optitrackmark): one Isaac bring-up asserting emulator →natnet_ros2pose_cov ≥ 5 Hz → PX4local_positionfusing the vision. Deliberately not a third parametrized sim (no re-running the generic suites under NatNet).Tests: full suite collects 310;
-m unit= 153 pass;-m optitracke2e on a GPU runner.Version:
0.19.0-alpha.11. Base:johnliu/optitrack-natnet-server(2/3).🤖 Generated with Claude Code