Run IRI Incident Events

Purpose

Make incidents happen on a loaded stage using the isaacsim.replicator.incident.core Python API: tag prims as loose / flammable / leakable / spillable-area, build topple, fire, and spill events against them, and record an incidents_report.json. Works from a config file or directly through the event managers.

Prerequisites

• Isaac Sim 6 / Kit 110 running with the Python server (isaacsim.code_editor.python_server, port 8226) — see isaac-sim-remote.
• isaacsim.replicator.incident.core resolvable. It is pinned by the Action and Event Data Generation app; launch that app, or --enable isaacsim.replicator.incident.core.
• A loaded stage. Topple items tagged NavMesh also need a bakeable navmesh.
• Shell env contract from isaac-sim-orchestrator: $ISAAC_SIM_DIR, $WORKSPACE_DIR.