isaac-sim-validator

name	isaac-sim-validator
description	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 sub-agent produces a script, a render, a training artifact, or any USD scene that's about to be handed to the user.

Isaac Sim Validator

Final gate before delivery. Reject outputs that fail the checks below; do not soften results.

Universal checklist (apply to every output)

Check	Pass	On fail
Script path	exists, readable	reject: Script path invalid: <path>
File size	> 1 KB	reject: Script empty or corrupted
isaacsim import	uses isaacsim.*, not omni.isaac.core	reject: Use isaacsim.* namespace; omni.isaac.core is deprecated
SimulationApp config	explicit width and height	reject: SimulationApp without window args causes swapchain-capture size mismatch
Lights present	DomeLight (intensity >= 100) and DistantLight (>= 500)	reject: No lighting; render will be black
Render mode	RayTracedLighting for iteration; PathTracing only for hero shots	reject: PathTracing too slow for iteration; use RayTracedLighting
ACES tonemap	/rtx/post/tonemap/op=4, filmIso 200 default / 600 deep-aisle / 400 aerial	suggest: Enable ACES (op=4) for contrast
Final render	>= 150 KB and mean_RGB > 30	reject: Render is black or low-energy; check lighting
User paths	no /home/<user>/, C:\Users\<name>\, or per-agent home paths	reject: Hardcoded user path; use $ISAAC_SIM_DIR, $ISAAC_LAB_DIR, $WORKSPACE_DIR, or argparse
Network endpoints	no bare IPs (192.168.x.x, 10.x.x.x) or non-localhost hosts	reject: Hardcoded endpoint; parameterize via env var or config
Output dir	configurable (env var, CLI, or function param)	reject: Output dir hardcoded; accept as parameter or read $OUTPUT_DIR
VRAM headroom	nvidia-smi headroom > 20% after settle	warn at >90% utilization; likely leak or scale issue
pkill -f "kit/kit" used	flag for kill+relaunch bug	warn: Verify zero kit processes before next launch
Sim duration	>= 3 s of physics	reject: Sim ran < 3 s; physics has not settled

File structure validation (USD scenes)

Item	Valid	Invalid	Action
$ISAAC_LAB_DIR/scripts/	read-only reference	writing outputs there	redirect to $OUTPUT_DIR or $WORKSPACE_DIR/outputs/
get_assets_root_path() -> s3://...	runtime OK	baked into delivered output	cache locally; reference via configurable path
Melting / Splat MDL-only shaders	OK in raw form	MDL-only at export	filter out; MDL-only causes black render
MakeInstanceable for RL	required (make_instanceable: true)	absent	reject
usdPreviewSurface on surfaces	required	absent	reject; suggest adding UsdPreviewSurface
convex_decompose_mesh	false (with clean_sdf_dc)	true	recommend false for stability
mpu=0.01	OK for warehouse shell (13 m tiles)	on a robot	reject

Render validation (frame analysis)

Metric	Good	Bad	Action
File size	1–4 MB	~82 KB	82 KB = black, reject
Mean RGB	80–160	< 20	reject: Too dark; add lights
Max RGB	200–250	0	reject: No light in scene
Pixel variance	> 15	< 5	flat = missing shadows; add accents
Color histogram	multi-modal	single peak	overexposed or flat lighting; adjust intensity
Object visibility	>= 3 robots or 50+ assets	< 10 visible	suggest: Scene too sparse; add set dressing
Shadow consistency	consistent shadows	random black blobs	reject: Shadow artifacts; check light cone bounds

RL training validation

Issue	Action
AppLauncher not first	reject: AppLauncher must precede any isaaclab imports
Task __init__.py non-empty	reject: Task __init__.py must be empty; do not import configs
omni.isaac.lab import	reject: Use isaaclab.*; omni.isaac.lab is deprecated
PhysX backend (when Newton applies)	reject: Use Newton; it is the default on Kit 110
Missing PYTHONUNBUFFERED=1	warn: Set PYTHONUNBUFFERED=1 to see logs in real time
No GPU memory logging	suggest: Log torch.cuda.memory_allocated()/1e6 to W&B
Batch size exceeds VRAM	suggest: Reduce num_envs (try 2048)
Wrong checkpoint name	reject: Must be model_XXXX.zip, not policy.pt
Single seed	suggest: Run seeds 42, 123, 456 for valid comparison

Asset & shell validation

Input	Check	Action
docker run command	-v mount for /workspace/output	reject: Output folder not mounted
Sub-agent spawn	workdir=$WORKSPACE_DIR	reject: Sub-agent workdir hardcoded; use $WORKSPACE_DIR
Blender USD export	correct mpu, dual-shader (UsdPreviewSurface + MDL), correct export type	reject if any missing
Scene complexity	renders within 10 settle steps	reject: Scene too complex; simplify assets
Ghost artifacts	cleanup of /dev/shm/carb-*	reject: Use workspace_cleanup.py to clear /dev/shm/carb-*

Decision tree

graph TD
    A[Received Output] --> B{Has script?}
    B -->|No| C[Reject: "No script provided"]
    B -->|Yes| D{File size >1KB?}
    D -->|No| E[Reject: "Script empty or corrupted"]
    D -->|Yes| F{Python?}
    F -->|Yes| G{isaacsim.* imports?}
    G -->|No| H[Reject: "Use isaacsim.* not omni.isaac.core"]
    G -->|Yes| I{SimulationApp or --exec?}
    I -->|Neither| J[Reject: "Must use SimulationApp with window args OR isaac-sim.sh --exec"]
    I -->|SimulationApp| K{width and height set?}
    K -->|No| L[Reject: "SimulationApp requires explicit width and height"]
    K -->|Yes| M{Dome + Distant lights?}
    M -->|No| N[Reject: "Add DomeLight and DistantLight (min intensity 100 and 500)"]
    M -->|Yes| O{RayTracedLighting?}
    O -->|No| P[Reject: "Use RayTracedLighting for iteration"]
    O -->|Yes| Q{Render output exists?}
    Q -->|No| R[Reject: "No render output"]
    Q -->|Yes| S{>= 150 KB and mean_RGB > 30?}
    S -->|No| T[Reject: "Render is black, too dark, or corrupted"]
    S -->|Yes| U{Hardcoded user paths or bare IPs?}
    U -->|Yes| V[Reject: "Replace hardcoded user paths/IPs with env vars or args"]
    U -->|No| Y[VALID - deliver]

Training output

Item	Action
policy_only_XXXX.pt	accept
model_XXXX.zip	accept
log.csv or wandb URL	accept
results.json with episode data	accept
No reward curve / metrics	reject: Log episode/reward_mean and train/value_loss

Reply format

• Pass: Valid: <one-line summary>
• Fail: Invalid: <list of failed checks>
• Suggest (only when otherwise valid): Could be improved: <tip>

Do not hedge ("I think", "maybe"). Do not deliver a black frame.

Input sources

• isaac-sim-orchestrator, isaac-sim-rendering, other producer skills, and sub-agent outputs.
• Invoked on: "validate this", "check this render", "review this code".

Feedback loop

• Rejections feed back into the producing skill's failure-mode catalog.
• Recurring failures become new validator rules.