Navigation Primitives — Shared Substrate

Purpose

Shared mobile-robot substrate: occupancy maps, A* planning, robot footprints, differential/holonomic kinematics, and chase-camera math.

Prerequisites

• Built Isaac Sim with isaacsim.core.experimental, wheeled_robots controllers, and SimulationManager.
• A loaded robot articulation for footprint derivation; numpy, scipy, cv2 for planning/collision helpers.
• A map.yaml/map.png pair from occupancy-map when using pre-baked grids (optional for runtime projection).

Limitations

• This is the shared substrate only — it does not drive robots, record SDG, or publish ROS topics; jump to the specialization skills for those.
• Footprints/kinematics assume authored collider geometry and correct scene units; garbage colliders yield garbage footprints.
• Oriented-footprint PhysX checks require SimulationManager.initialize(); the grid-based check works offline but is coarser.

Troubleshooting