MobilityGen Synthetic Data Generation

Two-phase pipeline: record trajectories (physics, no rendering) → replay & render (sensors added).

Read These Skills First

navigation-primitives — OccupancyMap, A* planner, robot footprints (Spot Z=0.69), differential/holonomic kinematics, look-at chase cameras, shared gotchas. MobilityGen consumes this substrate; this skill assumes you know it.
occupancy-map — produces the map.yaml consumed by OccupancyMap.from_ros_yaml
data-collection-sim — sibling SDG path for static scenes with randomized object/camera poses (no robot trajectory)

Goal	Use
Record trajectories then re-render with sensors for SDG (training data)	this skill
Drive a robot through a scene in real time, see it move	`isaac-sim-robot-navigation`
Annotated frames with no robot motion (object pose randomization)	`data-collection-sim`