Add Robot

What it does

When your agent uses it

• Asks to add a new robot
• Support <vendor in geniesim
• Names a URDF / xacro not currently in geniesimrobotmodel/urdf/
• Wants to convert a third-party mesh pack into AS3-ready USD

Example prompts

• “add a new robot”
• “import a robot”
• “support <vendor in geniesim”
• “/add-robot”

Requirements

• Python 3

Workflow steps

6 steps, taken from the step headings in SKILL.md.

1. 1Stage the URDF / xacro
2. 2Diagnose
3. 3Prep meshes
4. 4Confirm the URDF imports
5. 5Wire into a scene yaml
6. 6Launch via launch-scene

What it can do on your machine

Read from SKILL.md and the folder at commit 6ca11c7. It shows what the files ask for, not the result of running them.

• Tool permissions

  Pre-approves nothing: there is no allowed-tools line, so your agent's usual permission prompts apply.

  From allowed-tools in the SKILL.md frontmatter.

• Runs code

  Shell commands in SKILL.md call:

  • python

  From the folder's file list and the shell code blocks in SKILL.md.

• Network

  No URLs in SKILL.md.

  From URLs in SKILL.md, links to its own repository left out.

• Credentials

  Names no API keys, tokens, secrets or passwords.

  From names ending in _API_KEY, _TOKEN, _SECRET, _KEY or _PASSWORD in SKILL.md.

Context cost

Add Robot loads about 2.1k tokens when it runs. Until then it costs about 167 tokens; SKILL.md has 553 words of instructions outside code blocks.

Always · name and description, kept in context so the agent knows when to use it

~167

When it runs · the whole SKILL.md, loaded when a task matches

~2.1k

Estimates: characters ÷ 4, the usual rule of thumb; real counts depend on the model's tokenizer. Scripts and assets cost tokens only if the agent reads them.

Safety

Automated static check — not a guarantee. Review scripts before installing. It scans the text of SKILL.md for risky patterns (piping downloads into a shell, reading credential files, hidden Unicode, destructive commands); files beside SKILL.md are not scanned.

SKILL.md

The full file from AgibotTech/genie_sim at commit 6ca11c7, republished under its MPL-2.0 licence (© AgibotTech). 553 words, ~2,143 tokens.

name

add-robot

description

Bring a custom robot into the Genie Sim RT Engine — author / fix a xacro / URDF in `genie_sim_robot_model`, prep meshes with the offline tools (`normalize_obj_names.py`, `diagnose_urdf.py`, `recompute_inertia.py`, `fix_dae_units.py`, `copy_dae_material.py`), stage assets into the AS3 layout (`robot.usda` + `payloads/Physics/{physics,physx,mujoco}.usda`) that the engine consumes, and wire the result into a `scene_*.yaml`. Trigger: When the user asks to "add a new robot", "import a robot", "support <vendor> in geniesim", names a URDF / xacro not currently in `genie_sim_robot_model/urdf/`, or wants to convert a third-party mesh pack into AS3-ready USD.

license

MPL-2.0

metadata.author

genie-sim

metadata.version

1.0

prerequisites

geniesim_ros:build-workspace

ls source/geniesim_ros/src/ros_ws/src/genie_sim_robot_model/urdf/
# e.g. franka_fr3.urdf, ur5_robotiq_140.urdf, your_robot.urdf

cd source/geniesim_ros/src/ros_ws/src/genie_sim_robot_model
python scripts/diagnose_urdf.py urdf/<your_robot>.urdf

# OBJ name collisions:
python scripts/normalize_obj_names.py path/to/meshes/

# DAE units off (mm vs m):
python scripts/fix_dae_units.py path/to/meshes/<file>.dae

# DAE materials missing after a re-export:
python scripts/copy_dae_material.py source.dae target.dae

# Missing or wrong inertials (uniform-density approximation):
python scripts/recompute_inertia.py urdf/<your_robot>.urdf

assets/scenes/<scene>/
├── manifest.json
├── scene.usda
└── robot/
    ├── robot.usda
    └── payloads/
        └── Physics/
            ├── physics.usda
            ├── physx.usda
            └── mujoco.usda

rm -rf assets/scenes/<scene>/
# or pass:
ros2 launch genie_sim_bringup app.launch.py … always_regenerate_robot_usd:=true

robot:
  urdf: <your_robot>.urdf            # filename, resolved against genie_sim_robot_model/urdf/
  init_base_pose:                    # non-physics teleport at spawn
    x: 0.0
    y: 0.0
    z: 0.0
    theta: 0.0
  init_joint_pos:                    # optional, per-joint dict
    joint_name: <value>

viewer_camera:                       # Newton GL viewer default cam
  pos: [1.6, -1.6, 1.2]
  lookat: [0.0, 0.0, 0.8]

scene:
  base_path: <relative_to_geniesim_assets>
  scene_usda: <stage>.usda           # or omit for an empty scene

ros2 launch genie_sim_bringup app.launch.py \
  scene:=scene_flat_<your_robot> \
  launcher_config:=launcher_ovrtx_isaac_physx \
  headless:=false   # local workstation with a screen; flip to true on a remote/headless host

# Inside the container:
cd source/geniesim_ros/src/ros_ws/src/genie_sim_robot_model

# 1. Diagnose
python scripts/diagnose_urdf.py urdf/<your_robot>.urdf

# 2. Mesh prep (only the ones the diagnose tool flagged)
python scripts/normalize_obj_names.py path/to/meshes/
python scripts/fix_dae_units.py path/to/meshes/<file>.dae
python scripts/copy_dae_material.py src.dae dst.dae
python scripts/recompute_inertia.py urdf/<your_robot>.urdf

# 3. Build, then let the engine stage AS3 on first run
cd /workspace
geniesim ros build dev && source devel/setup.bash

# 4. Author scene_flat_<your_robot>.yaml, then:
ros2 launch genie_sim_bringup app.launch.py \
  scene:=scene_flat_<your_robot> \
  launcher_config:=launcher_ovrtx_isaac_physx \
  headless:=false   # local workstation with a screen; flip to true on a remote/headless host

© AgibotTech, MPL-2.0. Rendered from Markdown: HTML in the file is shown as text, images as links, and headings moved down two levels. Raw file

Files

Just SKILL.md in source/geniesim_ros/skills/add-robot of AgibotTech/genie_sim.

Open the folder on GitHubat commit 6ca11c7