Simulation engineer

For engineers who import sim assets, configure a robot in this stack, and compose motions in Isaac (not Gazebo-only beginners).

1. Isaac line and USD assets

  1. Isaac Sim — FaSim-Isaac ./init.sh then ./run.sh; ROS 2 side hardware:=isaac.

  2. Isaac Scenes and USD — how FaSim pulls robot_usds.

  3. robot_usds and USD submodules — brand folders, public vs private trees.

  4. Environment assets: env assets when the scene needs more than the robot.

Gazebo (different backend): Gazebo Simulation, Gazebo reference. There is no hardware:=mock; keys are mock_components / gz / isaac / real.

2. Robot configuration

  1. Switch Robot — robot:= and EEF type / left_type / right_type.

  2. robot_common_launch — launch args, machine profile, merge order.

  3. Naming Conventions.

  4. Add a Robot — copy a real description package; use the plugin class from that robot’s xacro/ros2_control/*.xacro.

  5. Brand packages: Brand Packages (Public). FiveAges wheeled-arm gitlinks: FiveAges descriptions.

3. Action composition / orchestration

Isaac datagen motions are task_queue YAML skills, not a Python ActionSequence API.

  1. Synthetic Data — pipeline map.

  2. Interface and Orchestration — ./init.sh all-motion, motion-generation, ros2-stack.

  3. robot_action_composer — documented branch feature/dex-grasp-generator; skill names and flags on that README / docs/.

Composer --robot fiveages_w2 is a real key on composer ROS2_STACK.md. It is not an ./init_repo.sh --robot flag.