Isaac Sim Extension Templates

Create new Isaac Sim extensions from standardized templates using the repo template tool.

Available Templates

Template	Description
Isaac Sim Python Extension	Python-only extension with omni.ext.IExt lifecycle, tests, and docs
Isaac Sim UI Extension	Python extension with Examples Browser integration, scene management, physics callbacks, and custom UI
Isaac Sim C++ and Python Extension	C++ Carbonite plugin with pybind11 bindings and Python wrapper
Isaac Sim OmniGraph Node Extension	C++ and Python OmniGraph nodes with .ogn definitions, Carbonite plugin, and pybind11 bindings

Usage

Create a new extension interactively

./repo.sh template new

This launches an interactive prompt that walks you through:

1. Choosing Extension as the template type
2. Selecting one of the four templates above
3. Entering variable values (extension name, title, version, etc.)

The generated extension is placed in source/extensions/<extension_name>/ and is automatically discovered by the build system.

Variables

Each template prompts for the following variables:

Variable	Default	Description
extension_name	isaacsim.my.extension	Full dotted extension name (e.g. isaacsim.sensors.lidar)
title	My Extension	Human-readable title shown in the Extension Manager
version	0.1.0	Initial semantic version
description	(varies)	One-line description for extension.toml
category	Simulation	Extension category

The C++ template additionally prompts for:

Variable	Default	Description
binding_module	my_extension	pybind11 module name (produces _<name>.so)

The OmniGraph template does not need a binding_module — it is derived automatically from the extension name by the OGN build system.

The following variables are derived automatically from extension_name:

Variable	Example
python_module	isaacsim.sensors.lidar
python_module_path	isaacsim/sensors/lidar
python_module_toplevel	isaacsim
current_date	2026-03-31

Non-interactive usage (automation / CI)

Generate a playback file first:

./repo.sh template new --generate-playback my_extension.toml

Then replay it without prompts:

./repo.sh template replay my_extension.toml

Example playback file:

[isaacsim-python-extension]
extension_name = "isaacsim.sensors.lidar"
title = "Lidar Sensor"
version = "0.1.0"
description = "Provides lidar sensor simulation."
category = "Sensors"

List existing extensions

./repo.sh template list

Build and verify

After creating an extension:

# Build
./build.sh

# Run tests
cd _build/linux-x86_64/release
./tests/tests-<extension_name>.sh

The new extension's premake5.lua is auto-discovered under source/extensions/.

Naming Convention

Extensions must follow the isaacsim.<category>[.<subcategory>...] naming pattern. For example:

• isaacsim.sensors.camera
• isaacsim.core.utils
• isaacsim.robot.controllers

Template Structure

Each template lives under templates/<template-name>/ and contains files with {{variable}} Jinja2 placeholders that are rendered at creation time. The template catalog is defined in templates/templates.toml.

To add a new template, create a directory with the scaffolded files and register it in templates.toml. See the repo_kit_template documentation for the full authoring guide.