Data Collection Simulation

Build headless SDG pipelines using Isaac Sim 6.0 Replicator. Outputs annotated frames (RGB, depth, segmentation, bbox, pose) to disk via writers.

Related Skills

• mobility-gen — mobile-robot trajectory recording then replay+render (two-phase, robot-mounted sensors)
• isaac-sim-sensor — sensor primitives (camera, LiDAR, IMU, contact)
• occupancy-map — produces occupancy maps for spawn placement

Architecture

Config (YAML/JSON) → SimulationApp (headless) → Scene Setup → Randomizers → Capture Loop → Writer → Disk

Required Imports