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SkillsMP has collected 25 skills from isaac-sim/IsaacSim. Open a skill to review its source and details.
Showing 25 of 25 collected skills.
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…
Runtime robot navigation in NVIDIA Isaac Sim — driving a robot through a scene live in a custom script. Covers RL policy loading (PolicyController), trajectory following, physics-vs-baked-vs-per-frame approaches for heavy stages, GPU OOM avoidance on 98K-prim…
Setting up and using the ROS 2 Bridge in Isaac Sim 6.0 (Kit 110) for publishing and subscribing to ROS 2 topics from simulation. Covers bridge architecture, OmniGraph node setup for sensors/commands, Nav2 integration, and multi-robot namespacing. Use when:…
Sensor simulation in Isaac Sim 6 / Kit 110 with Replicator. Modern stack: `isaacsim.sensors.experimental.rtx` (RTX cameras, lidar, radar, acoustic) and `isaacsim.sensors.experimental.physics` (contact, IMU, effort, joint state, raycast). Covers the…
Isaac Sim 6 (Kit 110) hang/freeze/perf reference for large USD scenes. Startup hangs, stage loading, MDL/shader compilation, physics stepping, Replicator, Hydra, Nucleus network, OOM crashes, perf tuning. Use when Isaac Sim hangs during stage load, shader…
Validate Isaac Sim simulation scripts and outputs before delivery. Rejects black frames, deprecated `omni.isaac.*` imports, hardcoded user paths/IPs, missing lights, wrong render mode, undersized SimulationApp configs, and bad RL output formats. Use when a…
Robot manipulation in Isaac Sim 6 / Kit 110: differential inverse kinematics via `Articulation` + `get_jacobian_matrices`, schema-native IK via `isaacsim.robot.poser.RobotPoser` (with named-pose storage / replay), grasp frames, `FixedJoint` and…
Patterns for structuring, composing, and improving agent skills, plus the Meta-Skilling Framework (MSF) for developing new skills from zero to competent. Covers skill routing, chunked processing, collaboration protocols, quality gates, MSF five phases…
Generate synthetic sensor datasets for mobile robots using Isaac Sim's MobilityGen extension. Two-phase pipeline: headless trajectory recording → replay-and-render for RGB/depth/seg/normals/pose data. Covers `RandomPathFollowingScenario`,…
Shared substrate for mobile robot navigation in Isaac Sim. Covers the primitives both runtime navigation (isaac-sim-robot-navigation) and synthetic data generation (mobility-gen) build on top of: OccupancyMap from USD or ROS YAML, A* path planning +…
Generate ROS-compatible occupancy maps from USD scenes for robot navigation and perception training. Covers obstacle extraction, 2D grid projection, height filtering, dilation buffers, and Nav2/MobilityGen/A* path planning integration.
Single source of truth for physics in Isaac Sim 6.0+ / Kit 110. Covers PhysicsScene config (gravity, Hz, CCD, stabilization, solver type), per-prim setup (RigidBodyAPI, MassAPI, CollisionAPI, kinematic bodies, joint drives), contact materials with…
Step 5 of the request loop (`ORIENT -> PLAN -> EXECUTE -> VALIDATE -> DISTILL -> DELIVER`). Before delivering any response, extract new skills, skill updates, or procedure refinements and write them to the library. Triggers: user correction, novel problem…
3D spatial reasoning for USD scene composition. Coordinate math, metersPerUnit conversion, bounding-box analysis, placement transforms (T*R*S ordering), look-at, collision-free grid layouts, zone boundaries, quaternion rotation, spatial indexing…
Convert URDF and MJCF robot descriptions to USD for Isaac Sim 6 and Isaac Lab via the modern `isaacsim.asset.importer.urdf` / `isaacsim.asset.importer.mjcf` APIs (`URDFImporter` + `URDFImporterConfig`, `MJCFImporter` + `MJCFImporterConfig`). Covers the…
Validate and build multi-arm robot articulations in USD for Isaac Sim 6 / Lab. Covers programmatic assembly (chassis + arms + `FixedJoint`s), `ArticulationRootAPI` placement, the modern Isaac Robot Schema overlay (`IsaacRobotAPI`, `IsaacLinkAPI`,…
NVIDIA's USD asset composition pattern for Isaac Sim — how robot assets are split into a binary geometry crate plus a set of human-editable USDA layers (base, instances, materials, physics, physx, mujoco, robot, interface) connected via composition arcs…
USD asset discovery, measurement, placement, and validation in Omniverse. Asset cataloging (bbox, shaders, prim count), placeholder-to-asset swap, offset correction, shader compatibility for headless renders, animation baking, articulation, and USD…