Development skills

Browse reusable Agent Skills, each with a clear purpose and practical guidance.

navigation-primitives

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 + smoothing, collision-derived robot footprint / Z-offset / inscribed-and-circumscribed radii, oriented-footprint PhysX overlap_box validation, differential and holonomic wheel kinematics, look-at chase camera math, and standard navigation gotchas. Use when implementing any mobile-robot navigation in Isaac Sim, computing an occupancy map from a USD stage, planning paths over a grid, sizing buffers for robot footprints, setting up chase cameras, or as the foundation BEFORE choosing between runtime navigation and SDG pipelines. Triggers on: occupancy map, A* path planning, OccupancyMap, generate_paths, differential drive, holonomic, mecanum, robot footprint, chase camera, navigation buffer, overlap_box, oriented footprint, inscribed radius.

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occupancy-map

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.

3.71k repo starsObserved in 2 repos
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physics-simulation

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 friction/restitution reference tables, Newton solver selection (Featherstone, MuJoCo, XPBD, SemiImplicit, VBD) vs PhysX, physics sensors (contact, IMU, raycast), physics-to-USD readback (RigidPrim vs XformCache vs DC), and 5 worked-example mechanism templates. Use when configuring a PhysicsScene; applying physics to USD prims; choosing solver iterations or Newton backend; setting up contact materials, joint drives, or sensors; debugging objects falling through ground; or building impact/crash, vibratory feeder, gyro, cradle, or escapement mechanisms.

3.71k repo starsObserved in 2 repos
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usd-articulation

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`, `IsaacJointAPI`, `IsaacSiteAPI`, `IsaacNamedPose`, `KinematicChain`), `PopulateRobotSchemaFromArticulation` for retrofitting existing USDs, flatten-before-deploy, and the validation checklist (articulation roots, joint connections, robot-schema integrity, floating arms). Use when creating multi-limb robots in USD, retrofitting an existing articulation with the Robot Schema, debugging "floating arms" or disconnected geometry, or flattening articulations for deployment to Isaac Lab.

3.71k repo starsObserved in 2 repos
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isaac-camera

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` / `SingleViewDepthCameraSensor` (runtime) on top of `UsdGeomCamera`. Covers AOVs / annotators, OpenCV / fisheye / LUT lens distortion via `OmniLensDistortion*API` schemas, OpenCV intrinsics conversion, animation, and Replicator randomization. Use when creating/configuring camera prims, attaching annotators, applying distortion models, converting real-world calibration to Omniverse units, animating cameras, or generating synthetic data with Replicator.

3.71k repo starsObserved in 1 repos
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isaac-sim-robot-navigation

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 scenes, Kit 110-specific timeline/physics gotchas, and standard Spot route catalog. For occupancy maps, A*, kinematics, and camera math, see `navigation-primitives`. For sensor-recording SDG, see `mobility-gen`. Use when navigating a robot live in your own Isaac Sim script, choosing between physics simulation and pre-baked transforms for heavy stages, debugging GPU OOM on large scenes, or troubleshooting Kit 110 physics hangs after kill+relaunch. Triggers on: PolicyController, RL policy load, trajectory follow, baked vs physics, per-frame transform, GPU OOM navigation, Kit 110 timeline.play, robot navigation runtime.

3.71k repo starsObserved in 1 repos
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manipulation-ik

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 `SurfaceGripper` grasping, hybrid IK + joint-space control, and obstacle-aware motion via `isaacsim.robot_motion.cumotion` (`RmpFlowController`) or `isaacsim.robot_motion.pink` (`PinkIKController`). Use when controlling a robot arm to pick / place / follow, implementing IK-based end-effector control, storing or applying named poses, choosing between native IK / cuMotion / PINK / Lula, or validating pick-and-place.

3.71k repo starsObserved in 1 repos
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mobility-gen

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`, `RandomAccelerationScenario`, and custom robot subclassing (`WheeledMobilityGenRobot`, `PolicyMobilityGenRobot`, holonomic). Use when generating mobile-robot training data, recording sim trajectories, replaying with sensors, or implementing a custom MobilityGenRobot. Distinct from `data-collection-sim` (static-scene SDG) — this skill is robot-trajectory-driven. See `navigation-primitives` for shared occupancy-map / A* / kinematics substrate; `isaac-sim-robot-navigation` for non-SDG runtime nav.

3.71k repo starsObserved in 1 repos
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usd-composition-architecture

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 (payload, reference, sublayer, variant). Covers the "binary for meshes, USDA for everything else" rule, headless RL optimization by skipping appearance, and the Asset Transformer pipeline that produces this layout. Use when: building new robot or environment assets for Isaac Sim, restructuring an existing asset with the Asset Transformer, optimizing RL training startup time and VRAM by skipping appearance payloads, debugging why physics edits in a USDA do not apply, debugging joint limits or mass properties, creating asset variants with different configs or materials. Triggers on: USD payload composition, layered USD, physics payload, appearance payload, USDA vs USD, USDA vs USDC, geometries.usdc, RL optimization payload, composition arcs, Asset Transformer, Isaac Sim Asset Structure, USD asset structure.

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usd-pipeline

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 composition architecture.

3.71k repo starsObserved in 1 repos
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