isaac-sim

Connect to a running Isaac Sim via the `isaacsim.code_editor.python_server` TCP socket (port 8226) to execute Python remotely. Launch Isaac Sim, send code, create/modify USD stages, run simulations, take viewport or full-app screenshots, inspect/modify prims,…

Profile and optimize Isaac Sim performance using benchmark scripts and Tracy profiling. Use when the user asks to profile, benchmark, measure performance, compare frame times, or optimize Isaac Sim workloads.

Generate pixel-difference GIF animations comparing benchmark validation captures against golden images. Use when the user asks to visualize validation failures, compare captured vs golden images, generate diff GIFs, or debug image tolerance issues.

Build headless static-scene data collection pipelines using Isaac Sim 6 / Kit 110 Replicator. Produces annotated RGB, depth, segmentation, bounding boxes, and pose data via `BasicWriter`, `KittiWriter`, `CocoWriter`, `CosmosWriter`, `FPSWriter` (from…

Camera creation, configuration, calibration, render products, lens distortion, and runtime sensor wrapping in Isaac Sim 6 / Kit 110. Modern path: `isaacsim.sensors.experimental.rtx.RtxCamera` (authoring) + `CameraSensor` / `TiledCameraSensor` /…

Running Isaac Sim 6.0 headlessly with `--no-window` for batch simulation, automated data generation, and server-side workloads. Covers launch modes (native headless, physics-only, standalone Python), key CLI flags, app configurations, and the canonical…

Top-level dispatcher: turns a natural-language Isaac Sim request into a runnable simulation. Owns the env-var contract (`$ISAAC_SIM_DIR`, `$ISAAC_LAB_DIR`, `$WORKSPACE_DIR`, `$CIP_ROOT`), decomposes the task into capabilities, routes to specialist skills…

Headless rendering with Isaac Sim 6.0+ / Kit 110 — frame capture, lighting setup, ACES tone mapping calibration, look-at camera math, and validation thresholds for batch simulation and synthetic data generation. Covers SimulationApp + Replicator RGB…

Sets up and verifies a runnable Isaac Lab-Arena checkout using the supported native uv or Docker route. Use when installing Arena, preparing a fresh checkout to run examples or evaluations, choosing between uv and Docker, starting or attaching to the Arena…

Runs existing Isaac Lab-Arena Experiment Definitions locally with experiment_runner.py in a ready native or Docker runtime, coordinates required local OpenPI or GR00T servers, applies local CLI overrides, and verifies generated result and report artifacts.…

Starts, reuses, verifies, and explicitly stops the local Dockerized OpenPI inference server used by Isaac Lab-Arena Pi0RemotePolicy experiments. Use when serving pi05 or pi0 locally, selecting an OpenPI port or variant, checking whether the OpenPI server is…

Downloads Isaac Lab-Arena OSMO workflow output (evaluation results, videos, HDF5 demos) to a local folder with `osmo data download`. Use when the user gives one or more OSMO workflow names and a destination folder and wants the data pulled down locally. Do…

Starts, reuses, verifies, and explicitly stops the local GR00T inference server used by Isaac Lab-Arena Gr00tRemoteClosedloopPolicy experiments. Use when serving the maintained N1.6-DROID policy locally, selecting a GR00T port or model, checking server…

Creates Arena-conformant commits and pull requests. Enforces DCO sign-off (git commit -s), no AI attribution lines (no Co-Authored-By, no Generated-with-Claude footers), <username>/<type>/<short-description> branch naming, separate new commits rather than…

Bootstraps and maintains the Docker environment used when contributing to Isaac Lab-Arena. Use when preparing a checkout for development, installing contributor hooks, rebuilding the Arena image with or without cache, inspecting the clone-specific container,…

Runs the Isaac Lab-Arena pytest suite across its three required phases (no-cameras, with-cameras, with-subprocess) inside the running isaaclab_arena Docker container. Use when the user asks to run the tests, test their changes, verify the test suite passes,…

Deploy and operate a cloud Isaac Workstation with Isaac Automator: provision a GPU VM running Isaac Sim, Isaac Lab, and/or Isaac Lab Arena on AWS, GCP, Azure, or Alibaba Cloud, connect to it, move data in and out, control cost with stop/start, repair, import…

Prepare and publish this repository's releases by selecting internal dev commits, squashing them into one commit on main, and creating an annotated release tag, using origin as the only remote. Use when checking release readiness, identifying unreleased…