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 Enable SimReady search API in agentic env gen ## Detailed description - Remove NormalizeSpec from #964. Instead it sticks to SpecInference. And objects the catalog cannot cover now carry thesimready_usd_object` registry name and are searched in the SimReady library after spec inference - Matching is on whole words, and the phrase's last word — the object itself — must appear in the asset path. To avoid substring matching, e.g. "bin" turns into cabinet USD. - Each candidate is read before it is accepted, and only assets with exactly one rigid body are kept; multi-part props are turned down with the reason recorded in the traces. - When nothing usable is found, the object ids are named back to the model for one further inference pass; an id already searched for is not searched again. If the replacement still cannot be spawned, the runner names the unavailable objects and shows the traces to users. - Opt-in, off by default: `--enable_simready_search` on the environment generation runner, or the "SimReady search" expander in the review GUI. simready_droid_pick_place_cans_hammer_maple_table.yaml <img width="1280" height="720" alt="image" src="https://github.com/user-attachments/assets/e296cac2-720a-4e40-bfc6-4c439b73e9a1" /> <img width="3019" height="1140" alt="Screenshot from 2026-07-30 22-36-30" src="https://github.com/user-attachments/assets/fea47cd6-8bff-468b-86cc-112d18f4d521" /> <img width="3019" height="1140" alt="Screenshot from 2026-07-30 22-34-57" src="https://github.com/user-attachments/assets/cbcc2217-1bd2-434b-a773-9e5823c90421" /> Other examples <img width="1280" height="720" alt="image" src="https://github.com/user-attachments/assets/96c26dae-5e62-4c5d-8cca-8ebc98dfdec3" /> <img width="2977" height="1284" alt="image" src="https://github.com/user-attachments/assets/df5a64de-31f7-4ea2-863f-ecb492b96e01" /> When Simready ones are not valid, fall back to the closest from Simready / Arena registry. ``` [runner] generation traces: simready search found no usable asset for 'pancake' no SimReady asset for object 'pancake'; it cannot be spawned asking for a replacement of: pancake === ArenaEnvGraphSpec (env_name='droid_pick_bagel_into_grey_bin') === assets: droid role=embodiment registry_name=droid_abs_joint_pos maple_table role=background registry_name=maple_table_robolab bagel role=object registry_name=bagel_00_objaverse_robolab grey_bin role=object registry_name=grey_bin_robolab ``` ``` [runner] generation traces: simready search found no usable asset for 'disinfectant spray' no SimReady asset for object 'disinfectant_spray'; it cannot be spawned asking for a replacement of: disinfectant_spray === ArenaEnvGraphSpec (env_name='droid_pick_soft_scrub_into_grey_bin') === assets: droid role=embodiment registry_name=droid_abs_joint_pos maple_table role=background registry_name=maple_table_robolab soft_scrub role=object registry_name=soft_scrub_ycb_robolab grey_bin role=object registry_name=grey_bin_robolab relations: is_anchor subject=maple_table on subject=soft_scrub reference=maple_table on subject=grey_bin reference=maple_table task: composition=TaskCompositionType.ATOMIC description: Pick up a soft scrub cleaner from the maple table and place it into a grey bin on the table. [0] kind=PickAndPlaceTask ``` --------- Signed-off-by: Xinjie Yao <xyao@nvidia.com> Signed-off-by: Qian Lin <qianl@nvidia.com> Co-authored-by: Qian Lin <qianl@nvidia.com>
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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