Add SimReady search to agentic environment generation. - #964
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Normalize prompts before spec inference, optionally query Isaac Sim GA SimReady props, and emit simready_usd_object candidates so generated YAML carries concrete USD paths without per-asset registry classes. Signed-off-by: Qian Lin <qianl@nvidia.com>
Keep prompts like "maple table" as background-only so the resting surface is the background asset itself rather than inventing an in-scene object_reference. Signed-off-by: Qian Lin <qianl@nvidia.com>
Select the authored Physics variant when spawning SimReady USD objects and when locating rigid bodies for contact sensors, preferring body prims when multiple rigid bodies share a depth. Signed-off-by: Qian Lin <qianl@nvidia.com>
OR path-token filters so phrases like "disinfectant bottle" still match assets whose USD paths contain only one of the words. Signed-off-by: Qian Lin <qianl@nvidia.com>
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Work continued on #982 |
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Summary
Add SimReady search to agentic env generation
Detailed description
simready_usd_objectwhen Arena registry assets are missingPhysics=physicson spawn/contact so rigid bodies resolve for PickAndPlace sensors/isaac-sim/python.sh isaaclab_arena_examples/agentic_environment_generation/environment_generation_runner.py --mode resolve --enable_simready_search --prompt "Droid picks up a disinfectant from the maple table and places it into a grey bin on the table."
Previous generated yaml: isaaclab_arena_environments/droid_disinfectant_into_grey_bin.yaml