Staaaaaaaaar · Staaaaaaaaar · Aug 24, 2026 · Aug 19, 2026 · Aug 24, 2026 · Aug 24, 2026
diff --git a/Makefile b/Makefile
@@ -4,6 +4,9 @@ DEV_COMPOSE := docker compose --env-file deployment/env/versions.env \
 	-f deployment/compose/compose.dev.yaml
 MOCK_COMPOSE := docker compose --env-file deployment/env/versions.env \
 	-f deployment/compose/compose.mock.yaml
+ISAAC_ENV_FILE ?= deployment/env/.env
+ISAAC_COMPOSE := docker compose --env-file deployment/env/versions.env \
+	--env-file $(ISAAC_ENV_FILE) -f deployment/compose/compose.isaac.yaml
 BASE_PATHS := packages agents tasks evaluators tests
 COLCON_ENV := COLCON_DEFAULTS_FILE=$(CURDIR)/colcon.defaults.yaml
 
@@ -12,7 +15,7 @@ export HOST_UID := $(shell id -u $(CURRENT_USER))
 export HOST_GID := $(shell id -g $(CURRENT_USER))
 
 .PHONY: help dev-image dev-shell dev-list dev-build dev-test dev-lint dev-check \
-	mock-image mock-e2e \
+	mock-image mock-e2e isaac-config isaac-image isaac-up isaac-gui isaac-down isaac-smoke \
 	list-local build-local test-local lint-local check-local
 
 help:
@@ -26,6 +29,12 @@ help:
 	@echo "  make dev-check  Run the complete PR/CI check"
 	@echo "  make mock-image Build the CPU mock runtime image"
 	@echo "  make mock-e2e   Run and validate the three-container mock stack"
+	@echo "  make isaac-config Validate the Isaac Compose configuration"
+	@echo "  make isaac-image Build the pinned Isaac env image"
+	@echo "  make isaac-up    Start the Isaac env using the configured mode"
+	@echo "  make isaac-gui   Build and run the Isaac GUI until Ctrl-C"
+	@echo "  make isaac-down  Stop the Isaac validation stack"
+	@echo "  make isaac-smoke Run the manual GPU/ROS 2 Bridge smoke"
 
 dev-image:
 	$(DEV_COMPOSE) build dev
@@ -54,6 +63,24 @@ mock-image:
 mock-e2e:
 	tools/e2e/run_mock_compose.sh
 
+isaac-config:
+	$(ISAAC_COMPOSE) config --quiet
+
+isaac-image:
+	$(ISAAC_COMPOSE) build env
+
+isaac-up:
+	$(ISAAC_COMPOSE) up --detach env
+
+isaac-gui:
+	RH_ISAAC_ENV_FILE=$(ISAAC_ENV_FILE) tools/dev/run_isaac_gui.sh
+
+isaac-down:
+	$(ISAAC_COMPOSE) down --remove-orphans
+
+isaac-smoke:
+	RH_ISAAC_ENV_FILE=$(ISAAC_ENV_FILE) tools/e2e/run_isaac_bridge_smoke.sh
+
 # The *-local targets are internal entry points used inside the development image.
 list-local:
 	$(COLCON_ENV) colcon list --base-paths $(BASE_PATHS)
@@ -68,6 +95,10 @@ test-local: build-local
 
 lint-local:
 	python3 tools/validation/check_repository.py
-	ruff check tools tests packages agents tasks evaluators
+	python3 tools/validation/check_isaac_skeleton.py
+	bash -n deployment/docker/env/entrypoint.sh \
+		simulators/isaac/scripts/launch.sh tools/dev/run_isaac_gui.sh \
+		tools/e2e/run_isaac_bridge_smoke.sh
+	ruff check tools tests packages agents tasks evaluators simulators
 
 check-local: lint-local list-local test-local
diff --git a/README.md b/README.md
@@ -11,7 +11,7 @@ RoboHarness 是面向机器人导航任务的快速实验、自动运行与统
 严格限定为：
 
 - Simulator：NVIDIA Isaac Sim
-- Robot：Unitree Go2
+- Robot：ANYmal C
 - Agent：ROS 2 Keyboard Agent
 - Task：PointNav
 - Evaluation：Simple Navigation Evaluation
@@ -79,6 +79,26 @@ make dev-lint
 make mock-e2e
 ```
 
+PR13 的 Isaac backend / 原生 ROS 2 Bridge 骨架使用：
+
+```bash
+cp deployment/env/.env.example deployment/env/.env
+# 阅读 NVIDIA EULA 后，将 ACCEPT_EULA 改为 Y。
+make isaac-config
+make isaac-smoke
+```
+
+本地 Linux X11 图形会话可直接运行：
+
+```bash
+make isaac-gui
+```
+
+首次配置 GPU 开发机请按
+[PR13 Isaac 开发环境与调整记录](docs/guides/isaac-pr13-development-environment.md)
+区分宿主机、运行基线和本地 consent 配置，再执行
+[NVIDIA Container Toolkit 安装指南](docs/guides/nvidia-container-toolkit-host-setup.md)。
+
 开发容器只是临时工具环境，不属于 RoboHarness 的运行服务。详细说明见
 [部署与开发环境](deployment/README.md)和
 [开发平台 ADR](docs/adr/0001-development-platform.md)。
@@ -89,13 +109,9 @@ make mock-e2e
 三个独立容器，等待 ROS 图和三个 Episode 结果完成，校验产物后自动清理服务。
 结果和容器日志保存在 `.build/mock-e2e/`。
 
-面向 Isaac Sim 的完整 MVP 运行方式仍将在后续 PR 中补齐：
-
-```bash
-cp deployment/env/.env.example deployment/env/.env
-docker compose --env-file deployment/env/.env \
-  -f deployment/compose/compose.yaml up --build
-```
+当前 Isaac profile 只验证 pinned image、Kit application、原生 Bridge、`/clock`
+与跨容器 DDS discovery；它不包含 ANYmal C、运控、完整 Env reset 或 MVP E2E。
+完整运行方式仍将在 PR14–PR17 中补齐。
 
 运行链：
 
@@ -126,4 +142,4 @@ MVP 不实现 Gazebo、Nav2、Reactive/RL/VLA/VLN Agent、其他机器人、复
 
 ## License
 
-License 尚未确定。在明确许可证之前，请勿假定仓库内容可被再分发；引入 Go2/Isaac 资源时也必须单独核对其许可证与再分发条件。
+License 尚未确定。在明确许可证之前，请勿假定仓库内容可被再分发；引入 ANYmal C/Isaac 资源时也必须单独核对其许可证与再分发条件。
diff --git a/configs/experiments/mvp.yaml b/configs/experiments/mvp.yaml
@@ -1,6 +1,6 @@
 schema_version: 1
 experiment:
-  name: go2_keyboard_pointnav
+  name: anymal_c_keyboard_pointnav
   execution_mode: manual
   episodes:
     - episode_id: "0000"

diff --git a/deployment/README.md b/deployment/README.md
@@ -11,6 +11,7 @@ RoboHarness keeps development and execution concerns in separate images:
 | --- | --- | --- | --- |
 | `roboharness-dev` | edit, build, lint, and test the monorepo | yes | Colcon, compiler, CMake, Ruff |
 | `roboharness-mock-runtime` | execute the installed CPU mock stack | no | no repository lint/dev layer |
+| `roboharness-isaac-env` | run the Isaac backend and native ROS 2 Bridge | no | no repository lint/dev layer |
 
 The mock runtime image is built with a multi-stage Dockerfile. Its builder
 stage compiles the required Colcon packages, while the final stage copies only
@@ -67,4 +68,77 @@ container snapshots, ROS graph snapshots, and Compose logs are retained under
 `.build/mock-e2e/`; the stack is always removed on exit.
 
 This CPU image is a reproducible protocol and orchestration reference, not an
-Isaac production image. Isaac/GPU versions and images remain the scope of PR 13.
+Isaac production image.
+
+## Isaac backend skeleton
+
+PR 13 pins the Linux x86_64 Isaac Sim image to both version and manifest:
+
+```text
+nvcr.io/nvidia/isaac-sim:4.5.0
+sha256:c2f47dc82a7714af08d3766efe80ac9d084c2b37b5d0dfbd074797ec56390fc7
+```
+
+The env image adds only the installed `rh_interfaces` overlay and the
+`simulators/isaac` application files. It contains no source workspace, Isaac
+Lab, ANYmal C binding, policy training tools, Agent, Task, Evaluator, or
+Experiment implementation. The `rh.isaac` extension enables the native
+`isaacsim.ros2.bridge`, creates the simulation-clock Action Graph, and publishes
+the platform Env status as `STARTING` or `ERROR`. It deliberately cannot claim
+`READY` before PR 14 and PR 16 provide the robot binding and full Env contract.
+
+Create the local consent/configuration file and explicitly accept NVIDIA's EULA:
+
+```bash
+cp deployment/env/.env.example deployment/env/.env
+# Edit deployment/env/.env and set ACCEPT_EULA=Y after reviewing the EULA.
+make isaac-config
+make isaac-image
+make isaac-up
+```
+
+On a local Linux X11 session, run the foreground GUI workflow without changing
+the default headless value in `.env`:
+
+```bash
+make isaac-gui
+```
+
+The GUI helper validates `DISPLAY`, temporarily grants only the container root
+user local X access, and cleans up both Compose and the added X access on exit.
+
+`compose.isaac.yaml` uses host networking and a shared host IPC namespace for
+the Linux-only PR 13 Fast DDS smoke, passes through all NVIDIA GPUs, and
+persists shader/content caches in named volumes. Sharing IPC is required for
+Fast DDS shared-memory user data; discovery alone can work across isolated IPC
+namespaces while `/clock` delivery fails. `bridge-observer` is a
+validation-profile helper, not a fourth runtime service. Stop the stack with
+`make isaac-down`.
+
+The bounded manual validation command is:
+
+```bash
+make isaac-smoke
+```
+
+It checks the host driver and Docker runtime, builds the pinned image, starts an
+external ROS 2 Humble observer, receives one `/clock` message, checks the Env
+status topic and container stability, and writes evidence under
+`.build/isaac-smoke/`. See the
+[PR 13 validation guide](../docs/guides/isaac-pr13-validation.md) for host
+requirements, GUI launch, evidence contents, and limitations. Developers
+preparing a new machine should first follow the
+[NVIDIA Container Toolkit host setup guide](../docs/guides/nvidia-container-toolkit-host-setup.md).
+
+The complete separation between host configuration, repository pins, local
+consent, and implementation changes is recorded in the
+[PR 13 development environment notes](../docs/guides/isaac-pr13-development-environment.md).
+The 2026-08-24 smoke passed on Ubuntu 22.04.5/kernel 6.8 with driver
+`580.173.02`, NVIDIA Container Toolkit `1.20.0`, Docker Engine `29.7.2`, and
+Compose `5.5.0`. These are validation evidence, not blanket minimum versions
+for every host.
+
+Isaac Sim 4.5.0, Ubuntu 22.04, and ROS 2 Humble are the selected runtime
+baseline. The MVP later uses the ANYmal C locomotion policy bundled with Isaac
+Sim, so Isaac Lab is not installed in the runtime image. Policy training or
+export tooling will be selected and pinned separately if required.
diff --git a/deployment/compose/compose.isaac.yaml b/deployment/compose/compose.isaac.yaml
@@ -0,0 +1,62 @@
+name: roboharness-isaac
+
+x-isaac-environment: &isaac-environment
+  ACCEPT_EULA: ${ACCEPT_EULA:-N}
+  PRIVACY_CONSENT: ${PRIVACY_CONSENT:-N}
+  ROS_DISTRO: ${RH_ROS_DISTRO}
+  ROS_DOMAIN_ID: ${RH_ISAAC_ROS_DOMAIN_ID:-42}
+  ROS_LOCALHOST_ONLY: "0"
+  RMW_IMPLEMENTATION: rmw_fastrtps_cpp
+
+services:
+  env:
+    image: ${RH_ISAAC_ENV_IMAGE}
+    build:
+      context: ../..
+      dockerfile: deployment/docker/env/Dockerfile
+      args:
+        ISAAC_SIM_IMAGE: ${RH_ISAAC_SIM_IMAGE}
+        ROS_BASE_IMAGE: ${RH_ROS_BASE_IMAGE}
+    init: true
+    restart: "no"
+    stop_grace_period: 30s
+    network_mode: host
+    ipc: host
+    gpus: all
+    shm_size: 2gb
+    environment:
+      <<: *isaac-environment
+      DISPLAY: ${DISPLAY:-}
+    command: ["${RH_ISAAC_MODE:-headless}"]
+    volumes:
+      - isaac-kit-cache:/isaac-sim/kit/cache
+      - isaac-ov-cache:/root/.cache/ov
+      - isaac-pip-cache:/root/.cache/pip
+      - isaac-gl-cache:/root/.cache/nvidia/GLCache
+      - isaac-compute-cache:/root/.nv/ComputeCache
+      - isaac-data:/root/.local/share/ov/data
+      - isaac-logs:/root/.nvidia-omniverse/logs
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+
+  bridge-observer:
+    profiles: ["validation"]
+    image: ${RH_ROS_BASE_IMAGE}
+    init: true
+    restart: "no"
+    network_mode: host
+    ipc: host
+    environment:
+      ROS_DISTRO: ${RH_ROS_DISTRO}
+      ROS_DOMAIN_ID: ${RH_ISAAC_ROS_DOMAIN_ID:-42}
+      ROS_LOCALHOST_ONLY: "0"
+      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
+    command: ["sleep", "infinity"]
+
+volumes:
+  isaac-kit-cache:
+  isaac-ov-cache:
+  isaac-pip-cache:
+  isaac-gl-cache:
+  isaac-compute-cache:
+  isaac-data:
+  isaac-logs:
diff --git a/deployment/docker/env/Dockerfile b/deployment/docker/env/Dockerfile
@@ -0,0 +1,56 @@
+ARG ROS_BASE_IMAGE=public.ecr.aws/docker/library/ros:humble-ros-base-jammy
+ARG ISAAC_SIM_IMAGE=nvcr.io/nvidia/isaac-sim:4.5.0
+
+FROM ${ROS_BASE_IMAGE} AS ros-builder
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+RUN apt-get update \
+    && apt-get install --no-install-recommends -y \
+        build-essential \
+        cmake \
+        python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /workspace/roboharness
+COPY packages/rh_interfaces packages/rh_interfaces
+
+RUN source /opt/ros/humble/setup.bash \
+    && colcon build \
+        --merge-install \
+        --install-base /opt/roboharness \
+        --base-paths packages \
+        --packages-select rh_interfaces
+
+FROM ${ISAAC_SIM_IMAGE} AS isaac-env
+
+ARG ISAAC_SIM_IMAGE
+
+LABEL org.opencontainers.image.title="RoboHarness Isaac environment" \
+      org.opencontainers.image.description="Isaac Sim 4.5 backend and native ROS 2 Bridge" \
+      org.opencontainers.image.version="4.5.0" \
+      org.opencontainers.image.base.name="${ISAAC_SIM_IMAGE}"
+
+USER root
+
+COPY --from=ros-builder /opt/roboharness /opt/roboharness
+COPY simulators/isaac /opt/roboharness/simulators/isaac
+COPY deployment/docker/env/entrypoint.sh /usr/local/bin/roboharness-isaac-entrypoint
+
+RUN chmod 0755 \
+        /usr/local/bin/roboharness-isaac-entrypoint \
+        /opt/roboharness/simulators/isaac/scripts/launch.sh
+
+ENV RH_ISAAC_ROOT=/isaac-sim \
+    RH_ISAAC_APPS=/isaac-sim/apps \
+    RH_ISAAC_BASE_APP=/isaac-sim/apps/isaacsim.exp.base.kit \
+    RH_ISAAC_APP=/opt/roboharness/simulators/isaac/apps/rh.kit \
+    RH_ISAAC_EXTENSIONS=/opt/roboharness/simulators/isaac/extensions \
+    RH_ROS_PYTHON_PATH=/opt/roboharness/local/lib/python3.10/dist-packages \
+    AMENT_PREFIX_PATH=/opt/roboharness \
+    PYTHONPATH=/opt/roboharness/local/lib/python3.10/dist-packages \
+    LD_LIBRARY_PATH=/opt/roboharness/lib
+
+WORKDIR /isaac-sim
+ENTRYPOINT ["/usr/local/bin/roboharness-isaac-entrypoint"]
+CMD ["headless"]
diff --git a/deployment/docker/env/entrypoint.sh b/deployment/docker/env/entrypoint.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -eo pipefail
+
+if [[ "${ACCEPT_EULA:-N}" != "Y" ]]; then
+    echo "Isaac Sim EULA is not accepted. Set ACCEPT_EULA=Y in deployment/env/.env." >&2
+    exit 64
+fi
+
+exec /opt/roboharness/simulators/isaac/scripts/launch.sh "$@"
diff --git a/deployment/env/.env.example b/deployment/env/.env.example
@@ -0,0 +1,12 @@
+# Copy this file to deployment/env/.env before running the Isaac profile.
+# Setting ACCEPT_EULA=Y confirms acceptance of the NVIDIA Omniverse EULA for
+# the Isaac Sim container. RoboHarness never enables this automatically.
+ACCEPT_EULA=N
+
+# Y opts in to NVIDIA data collection; N keeps it disabled.
+PRIVACY_CONSENT=N
+
+# headless is the PR 13 validation default. `make isaac-gui` overrides this
+# value only for its own process and requires a local DISPLAY/X11 socket.
+RH_ISAAC_MODE=headless
+DISPLAY=
diff --git a/deployment/env/versions.env b/deployment/env/versions.env
@@ -17,6 +17,21 @@ RH_VALIDATED_MAKE_VERSION=4.3
 RH_VALIDATED_COLCON_CORE_VERSION=0.21.0
 RH_VALIDATED_RUFF_VERSION=0.11.13
 
-# Exact Isaac Sim, NVIDIA driver, and production image versions are validated
-# and pinned by PR 13. Do not infer them from the CPU development image.
-RH_ISAAC_SIM_VERSION=UNVERIFIED_UNTIL_PR13
+# The Isaac runtime baseline is selected for the Ubuntu 22.04 / ROS 2 Humble
+# project platform. PR 13 validates the exact image digest, host driver, and
+# GPU runtime; do not infer those from the CPU development image.
+RH_ISAAC_SIM_VERSION=4.5.0
+RH_ISAAC_SIM_IMAGE=nvcr.io/nvidia/isaac-sim:4.5.0@sha256:c2f47dc82a7714af08d3766efe80ac9d084c2b37b5d0dfbd074797ec56390fc7
+RH_ISAAC_ENV_IMAGE=roboharness-isaac-env:4.5.0
+RH_ISAAC_REFERENCE_ROBOT=anymal_c
+RH_ISAAC_ROS_DOMAIN_ID=42
+RH_ISAAC_MIN_DRIVER_VERSION=535.129.03
+RH_ISAAC_KERNEL_6_8_DRIVER_VERSION=535.216.01
+RH_ISAAC_VALIDATED_DRIVER_VERSION=580.173.02
+RH_ISAAC_VALIDATED_CONTAINER_TOOLKIT_VERSION=1.20.0
+RH_ISAAC_VALIDATED_DOCKER_ENGINE_VERSION=29.7.2
+RH_ISAAC_VALIDATED_DOCKER_COMPOSE_VERSION=5.5.0
+
+# The MVP deploys the ANYmal C policy bundled with Isaac Sim. Isaac Lab is not
+# installed in the runtime image; add and pin it only if policy training or
+# export becomes a confirmed requirement.