Calibrate Placed Cameras

Purpose

Produce a Metropolis-format calibration.json — per-camera intrinsics, extrinsics, homography, and field-of-view polygons — plus a top-view reference image, using CameraCalibrationManager from isaacsim.sensors.rtx.calibration.

Prerequisites

• Isaac Sim 6 / Kit 110 running with the Python server (isaacsim.code_editor.python_server, port 8226) — see isaac-sim-remote.
• isaacsim.sensors.rtx.calibration resolvable. It is pinned by isaacsim.exp.action_and_event_data_generation.base.kit; launch that app, or --enable isaacsim.sensors.rtx.calibration.
• Cameras already placed under the camera parent prim (default /World/Cameras) — use place-camera-max-coverage or place-camera-aim-at first.
• A local output folder. Nucleus / cloud URIs are rejected.
• Shell env contract from isaac-sim-orchestrator: $ISAAC_SIM_DIR, $ISAAC_LAB_DIR, $WORKSPACE_DIR.

Limitations