isaac-sim-asset-healer

Isaac Sim Asset Healer

Purpose

Generate reliable Isaac Sim 5.1 Python for two safe offline execution modes:

• GUI Script Editor snippets that the user can paste into Isaac Sim.
• Standalone SimulationApp runners executed with the Isaac Sim Python interpreter.

The generated code must build or repair a scene without relying on MCP execute_script transport.

Required Inputs

• Floor-plan image, coordinate data, or a precise verbal layout.
• Scale source, such as a dimension label, grid size, or user-confirmed meters-per-cell value.
• Local asset directory when USD/USDC assets are requested.

If the request lacks both visual layout and coordinate data, ask for a top-down screenshot or a dimensioned sketch before generating code.

Hard Rules

• Do not call Isaac Sim MCP execute_script to create the scene.
• Generated Python code must use ASCII-only comments, strings, variable names, and print output.
• Prefer standalone SimulationApp({"headless": False}) when the user wants Isaac Sim to open and build the scene automatically.
• Prefer Script Editor snippets when Isaac Sim is already open and the user wants to paste code manually.
• Never invent local asset filenames.
• Check real local inventory before referencing USD or USDC files.
• Use bundle-safe paths for packaged assets: os.path.join(asset_root, folder_name, folder_name).
• Delete the target root prim before rebuilding it.
• Keep (0, 0, 0) clear for robot spawning with at least 1.5m radius.
• Keep doorways and node transitions clear with at least 1.5m radius.
• Keep furniture separated enough for robot navigation.
• Keep furniture inside wall bounds.
• Build outer walls from the actual footprint, not a simplified rectangle.
• Build doorway walls with exactly two full-height wall pieces and no header.
• Use data tables as source of truth for walls, doors, slabs, windows, and placements.
• Apply UsdPhysics.CollisionAPI to generated obstacles and referenced mesh assets.

Workflow

1. Calibrate scale.
2. Extract topology as nodes, edges, corners, walls, doors, floor slabs, windows, and optional furniture zones.
3. Validate geometry: axis alignment, duplicate walls, door gaps, floor continuity, and navigation clearance.
4. Generate a Script Editor snippet with self-contained data tables and helper functions.
5. Include a concise validation report before or after the code.

For standalone mode, wrap the same generated scene builder with:

• from isaacsim import SimulationApp
• simulation_app = SimulationApp({"headless": False})
• normal Isaac Sim imports after SimulationApp starts
• an update loop using while simulation_app.is_running(): simulation_app.update()

Output Shape

When generating a scene, return:

• Corner Points Table
• Wall Segments Table
• Doorway Table
• Floor Slabs Table
• Script Editor Python snippet
• Optional standalone SimulationApp runner
• Validation notes

Implementation Preference

Use UsdGeom.Cube with translate and scale for primitive geometry. This is more stable in Isaac Sim 5.1 than FixedCuboid in environments where type conversion errors occur.

Use FixedCuboid(..., color=np.array(...)) only when the target environment is known to support it.

Run standalone scripts with the Isaac Sim Python executable, for example:

/home/iy/miniconda3/envs/isaacsim-5.1/bin/python /tmp/generated_scene.py