NVIDIA Isaac Sim Skill Overview Expert skill for NVIDIA Isaac Sim photorealistic simulation, Omniverse integration, and synthetic data generation using Replicator. Capabilities - Import and convert URDF to USD format - Create photorealistic environments with RTX ray tracing - Configure PhysX physics simulation - Implement Replicator synthetic data generation - Apply domain randomization (lighting, textures, poses) - Generate ground truth annotations (segmentation, depth, bounding boxes) - Configure ROS/ROS2 bridge for Isaac Sim - Set up multi-GPU distributed simulation - Create Isaac Sim exte…