isaac-sim/IsaacSim

action-and-event-data-generation

Entry point for Isaac Sim synthetic data generation (SDG) with actors, humans, robots, events, incidents, captions, or cameras. Use when planning an Action and Event Data Generation (AEDG) run.

actor-sdg-generate-lighting-variations

Generate deterministic USD lighting override sublayers for Actor SDG. Use when randomizing lights, creating lighting variations, or preparing IRA prop_asset_paths.

actor-sdg-sweep-config

Generate validated Isaac Sim Replicator Agent YAML variations and optionally batch-run Actor SDG. Use when sweeping an IRA config or preparing batch Actor SDG runs.

behavior-tree-generation

LLM-driven Behavior Tree Generation for Isaac Sim: turn a natural-language scenario into behavior-tree files. Use when generating a tree, authoring context/schema, or scripting the planner.

calibrate-metropolis-camera

Extract camera intrinsics, extrinsics, and FOV polygons to calibration.json. Use after cameras are placed; to place them first use place-camera-max-coverage.

data-collection-sim

Headless Replicator SDG for static scenes (writers, poses, Kitti). Use when collecting annotated training data. Do NOT use for mobile-robot SDG (use mobility-gen).

generate-incident-config

Author and validate the IRI event config YAML defining topple, fire, and spill incidents. Use when writing or debugging an incident config; to drive events use run-incident-events.

isaac-camera

USD camera setup, render products, intrinsics, and lens distortion. Use when configuring Isaac Sim cameras.

isaac-sim-assets

Configure and troubleshoot Isaac Sim asset access through Asset Region Profiles, custom or local asset roots, downloadable asset packs, availability manifests, and the public storage APIs. Use for missing or unreachable Isaac Sim assets, regional routing,…

isaac-sim-headless-deployment

Run a built Isaac Sim 6 headless with --no-window and the renderer disabled. Use for batch SDG jobs, physics-only CI, or unattended server runs.

isaac-sim-installation

Install Isaac Sim from a public standalone build, Docker image, or Python package behind preflight, compatibility, EULA, and --execute gates. Use when installing Isaac Sim; never launches the app.

isaac-sim-migration

Audit and validate Isaac Sim release migrations; currently covers 5.1 to 6.0. Do NOT use for new-project setup or unrelated runtime bugs.

isaac-sim-orchestrator

Execute end-to-end Isaac Sim work through ordered specialist skills and validation. Use when an established goal requires multi-skill scene, robot, render, sensor, or SDG integration.

isaac-sim-remote

Localhost IPC client for a trusted Isaac Sim python_server (127.0.0.1:8226). Use for live stage iteration; intentional full Kit/Python surface on loopback only.

isaac-sim-rendering

Headless RT2/PathTracing production rendering with ACES tuning. Use when capturing frames or validating render quality.

isaac-sim-robot-navigation

Runtime mobile-robot navigation in custom scripts (RL, baked, per-frame). Use when driving robots live in simulation.

isaac-sim-ros-workspaces

Clone, configure, or build IsaacSim-ros_workspaces using native ROS, Docker, custom interfaces, or Pixi. Use only for Isaac Sim ROS workspace requests, not generic workspace setup.

isaac-sim-ros2-bridge

ROS 2 OmniGraph bridge, Nav2, and multi-robot namespacing in Isaac Sim 6. Use for ROS 2 integration and fleet topics.

isaac-sim-sensor

RTX and physics sensor simulation (camera, LiDAR, IMU, contact). Use when adding, tuning, or validating sensors.

isaac-sim-troubleshooting

Reference for Isaac Sim hangs, freezes, and performance stalls. Use when startup, MDL, physics, or Replicator blocks progress.

isaac-sim-validator

Pre-delivery QA gate for Isaac Sim scripts (imports, lights, paths, frames). Level 3 executes untrusted Python unsandboxed and needs --confirm-execute. Use before handing off simulation work.

isaac-sim-workflow

Scope demos, POCs, and presentation captures before implementation. Use to define deliverables, acceptance criteria, evidence, and specialist handoffs; technique execution belongs to routed skills.

manipulation-ik

Differential IK, grasp frames, and joint-space manipulation in Isaac Sim 6. Use for arm control, grasps, and contact validation.

meta-skills

Patterns for authoring/composing skills (MSF). May propose skill-file edits (confirm before write) and optional localhost $IMAGE_SERVER_URL review uploads.

mobility-gen

MobilityGen SDG: record trajectories then replay-render sensors. Use for mobile-robot synthetic datasets.

motion-generation

Motion-generation controllers for arms and mobile bases with obstacles. Use for SceneQuery-driven end-effector or drive motion.

navigation-primitives

Shared mobile-robot substrate: footprints, A*, kinematics, cameras. Use before navigation/MobilityGen; not for map.yaml export (use occupancy-map).

object-bin-packing

Pack boxes/parcels into a bin, pallet, or container and render SDG with IRO's bin_pack harmonizer. Use for warehouse/logistics packing synthetic data.

occupancy-map

Export ROS occupancy grids (map.yaml/png) from USD for Nav2. Not for footprints, A*, or kinematics (use navigation-primitives).

physics-simulation

PhysX/Newton scene and prim setup (bodies, joints, materials, sensors). Use when configuring simulation physics.

place-camera-aim-at

Occlusion-aware CircularCameraPlacement around one target prim or world point. Use for multi-angle product or robot inspection shots that must keep the subject visible.

place-camera-max-coverage

Greedy CameraPlacementManager that fills a navmesh or XY scope until a patch-coverage ratio is met. Use for facility surveillance layouts that minimize camera count.

profile-isaac-sim

Profile Isaac Sim with benchmark scripts and Tracy captures. Use when measuring or optimizing frame times.

run-incident-events

Tag prims and drive IRI topple, fire, and spill incidents on a live stage, then record a report. Use when running incidents; to author the config YAML use generate-incident-config.

skill-distillation

Propose skill-library updates from session learnings (loop step 5); writes only after explicit user confirmation. Use after novel fixes, workflows, or user corrections.

skills-eval-triage

Interpret SkillEvaluator T1/T2/T3 reports and apply targeted fixes to skills. Use when a skill is blocking or has actionable findings after an eval run.

spatial-reasoning

USD spatial math: transforms, bbox, layouts, and planning helpers. Use when placing, scaling, or arranging scene assets.

urdf-mjcf-to-usd-conversion

Convert URDF/MJCF to USD for Isaac Sim and Isaac Lab. Use when importing a new robot description.

usd-articulation

Validate and build multi-arm articulations in USD. Use when assembling or fixing robot joint hierarchies.

usd-composition-architecture

Layered USD composition with physics and appearance payloads. Use when structuring sim-ready robot or environment assets.