isaac-sim/IsaacSim - 第 2 页

usd-pipeline

USD asset discovery, measurement, placement, and shader compatibility. Use for scene assembly and headless render prep.

原文语言：英语

validation-diff-gifs

Pixel-diff GIFs comparing validation captures to golden images. Use to triage benchmark or regression image failures.

原文语言：英语

vlm-scene-captioning

Generate image + caption pairs and structured scene graphs (IRC, isaacsim.replicator.caption.core) for VLM training. Use when captioning scenes or wiring IRC into an actor/object SDG run.

原文语言：英语

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).

原文语言：英语

isaac-camera

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

原文语言：英语

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.

原文语言：英语

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.

原文语言：英语

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.

原文语言：英语

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.

原文语言：英语

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.

原文语言：英语

isaac-sim-rendering

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

原文语言：英语

isaac-sim-robot-navigation

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

原文语言：英语

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.

原文语言：英语

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.

原文语言：英语

isaac-sim-sensor

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

原文语言：英语

isaac-sim-troubleshooting

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

原文语言：英语

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.

原文语言：英语

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.

原文语言：英语

manipulation-ik

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

原文语言：英语

meta-skills

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

原文语言：英语

mobility-gen

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

原文语言：英语

motion-generation

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

原文语言：英语

navigation-primitives

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

原文语言：英语

occupancy-map

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

原文语言：英语

physics-simulation

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

原文语言：英语

profile-isaac-sim

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

原文语言：英语

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.

原文语言：英语

spatial-reasoning

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

原文语言：英语

urdf-mjcf-to-usd-conversion

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

原文语言：英语

usd-articulation

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

原文语言：英语

usd-composition-architecture

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

原文语言：英语

usd-pipeline

USD asset discovery, measurement, placement, and shader compatibility. Use for scene assembly and headless render prep.

原文语言：英语

validation-diff-gifs

Pixel-diff GIFs comparing validation captures to golden images. Use to triage benchmark or regression image failures.

原文语言：英语