Agent skill

Material Override

Tune PBR metallic / roughness on URDF visual meshes without re-exporting DAE — author an inline <materialoverride element inside any <visual, and let the engine's URDF→USD pipeline patch the…

MPL-2.0Auto-check passed

Install Material Override

skills CLI

$ npx skills add AgibotTech/genie_sim --skill material-override -a claude-code

Project install by default; add -g for ~/.claude/skills/.

GitHub CLI

$ gh skill install AgibotTech/genie_sim material-override --agent claude-code

Project scope by default; add --scope user for a personal install. Needs GitHub CLI 2.90.0 or later (public preview).

Manual copy

$ git clone --depth 1 https://github.com/AgibotTech/genie_sim.git skills-src && mkdir -p .claude/skills && cp -r skills-src/source/geniesim_ros/skills/material-override .claude/skills/material-override && rm -rf skills-src

Use ~/.claude/skills/ instead of .claude/skills for a personal install. The folder must contain SKILL.md.

Claude Code skills documentation · loads skills from .claude/skills/

Paste into Claude Code

Install the "material-override" agent skill from https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override into .claude/skills/material-override/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "material-override", then confirm the skill loads.

Claude Code copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

$skill-installer

$skill-installer install https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override

Type this inside Codex. $skill-installer <name> installs a curated skill from openai/skills. The installer writes to $CODEX_HOME/skills (default ~/.codex/skills). Restart Codex if the skill does not show up.

skills CLI

$ npx skills add AgibotTech/genie_sim --skill material-override -a codex

Project install goes to .agents/skills/; add -g for ~/.codex/skills/.

GitHub CLI

$ gh skill install AgibotTech/genie_sim material-override --agent codex

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/AgibotTech/genie_sim.git skills-src && mkdir -p .agents/skills && cp -r skills-src/source/geniesim_ros/skills/material-override .agents/skills/material-override && rm -rf skills-src

Use ~/.agents/skills/ instead of .agents/skills for a personal install.

Codex skills documentation · loads skills from .agents/skills/

Paste into Codex

Install the "material-override" agent skill from https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override into .agents/skills/material-override/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "material-override", then confirm the skill loads.

Codex copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

skills CLI

$ npx skills add AgibotTech/genie_sim --skill material-override -a cursor

Project install goes to .agents/skills/; add -g for ~/.cursor/skills/.

GitHub CLI

$ gh skill install AgibotTech/genie_sim material-override --agent cursor

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/AgibotTech/genie_sim.git skills-src && mkdir -p .cursor/skills && cp -r skills-src/source/geniesim_ros/skills/material-override .cursor/skills/material-override && rm -rf skills-src

Use ~/.cursor/skills/ instead of .cursor/skills for a personal install.

Cursor skills documentation · loads skills from .cursor/skills/, .agents/skills/, .claude/skills/, .codex/skills/

Paste into Cursor

Install the "material-override" agent skill from https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override into .cursor/skills/material-override/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "material-override", then confirm the skill loads.

Cursor copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

gemini skills install

$ gemini skills install https://github.com/AgibotTech/genie_sim.git --path source/geniesim_ros/skills/material-override

--scope user (default) or --scope workspace; --path is the subfolder of the repo that holds the skill; --consent skips the security confirmation prompt.

skills CLI

$ npx skills add AgibotTech/genie_sim --skill material-override -a gemini-cli

Project install goes to .agents/skills/; add -g for ~/.gemini/skills/.

GitHub CLI

$ gh skill install AgibotTech/genie_sim material-override --agent gemini-cli

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/AgibotTech/genie_sim.git skills-src && mkdir -p .gemini/skills && cp -r skills-src/source/geniesim_ros/skills/material-override .gemini/skills/material-override && rm -rf skills-src

Use ~/.gemini/skills/ instead of .gemini/skills for a personal install, then run /skills reload.

Gemini CLI skills documentation · loads skills from .gemini/skills/, .agents/skills/

Paste into Gemini CLI

Install the "material-override" agent skill from https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override into .gemini/skills/material-override/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "material-override", then confirm the skill loads.

Gemini CLI copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

GitHub CLI

$ gh skill install AgibotTech/genie_sim material-override

Installs for Copilot at project scope by default; add --scope user for a personal install. Preview a skill first with gh skill preview. Needs GitHub CLI 2.90.0 or later (public preview).

skills CLI

$ npx skills add AgibotTech/genie_sim --skill material-override -a github-copilot

Project install goes to .agents/skills/; add -g for ~/.copilot/skills/.

Manual copy

$ git clone --depth 1 https://github.com/AgibotTech/genie_sim.git skills-src && mkdir -p .github/skills && cp -r skills-src/source/geniesim_ros/skills/material-override .github/skills/material-override && rm -rf skills-src

Use ~/.copilot/skills/ instead of .github/skills for a personal install. Commit .github/skills so cloud agent and code review can use it.

GitHub Copilot skills documentation · loads skills from .github/skills/, .claude/skills/, .agents/skills/

Paste into GitHub Copilot

Install the "material-override" agent skill from https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override into .github/skills/material-override/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "material-override", then confirm the skill loads.

GitHub Copilot copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

skills CLI

$ npx skills add AgibotTech/genie_sim --skill material-override -a opencode

OpenCode documents no install command of its own. Project install goes to .agents/skills/; add -g for ~/.config/opencode/skills/.

GitHub CLI

$ gh skill install AgibotTech/genie_sim material-override --agent opencode

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/AgibotTech/genie_sim.git skills-src && mkdir -p .opencode/skills && cp -r skills-src/source/geniesim_ros/skills/material-override .opencode/skills/material-override && rm -rf skills-src

Use ~/.config/opencode/skills/ instead of .opencode/skills for a personal install.

OpenCode skills documentation · loads skills from .opencode/skills/, .claude/skills/, .agents/skills/

Paste into OpenCode

Install the "material-override" agent skill from https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_ros/skills/material-override into .opencode/skills/material-override/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "material-override", then confirm the skill loads.

OpenCode copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

Facts

Skill name: material-override
GitHub stars: 1.4k
Token cost: ~1.6k tokens
SKILL.md length: 499 words
Files: 1
Skills in repo: 26
Repo updated: Sep 7, 2026
First seen: Oct 7, 2026
Licence: MPL-2.0

At a glance

Tune PBR metallic / roughness on URDF visual meshes without re-exporting DAE — author an inline <materialoverride element inside any <visual, and let the engine's URDF→USD pipeline patch the…

Works in 6 steps: Find the visual you want to tune → Add the override → Rebuild the workspace → …
Asks to tune material
SKILL.md covers When to Use, Critical Patterns, Schema and PBR cheat-sheet, plus 3 more sections
Instructions only: no scripts, shell commands, URLs or credentials in SKILL.md

What it does

Material Override is an agent skill from AgibotTech/genie_sim. Tune PBR metallic / roughness on URDF visual meshes without re-exporting DAE — author an inline <materialoverride element inside any <visual, and let the engine's URDF→USD pipeline patch the converter's defaults post-conversion. Useful for sim-to-real visual fidelity (DAE materials round-trip poorly; Isaac Sim's importer lands every embedded material at roughness=0.5, metallic=0.0 by default). Trigger: When the user asks to "tune material", "change roughness / metallic", "make the gripper shinier", "fix dull…

Its SKILL.md is about 1.6k tokens, which your agent loads only when the skill is triggered. It is a single SKILL.md file with no bundled scripts.

The repository describes itself as: Simulation Platform from AgiBot. The licence is MPL-2.0.

When your agent uses it

Asks to tune material
Change roughness / metallic
Make the gripper shinier
Override material

Example prompts

“s URDF→USD pipeline patch the converter”
“tune material”
“change roughness / metallic”
“/material-override”

Workflow steps

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

Find the visual you want to tune
Add the override
Rebuild the workspace
Force a USD regenerate
Launch and inspect
Verify the converted USD

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
No scripts in the folder and no shell commands in SKILL.md (its code samples are bash and xml).
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

Material Override loads about 1.6k tokens when it runs. Until then it costs about 162 tokens; SKILL.md has 499 words of instructions outside code blocks.

Always · name and description, kept in context so the agent knows when to use it: ~162
When it runs · the whole SKILL.md, loaded when a task matches: ~1.6k

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

Auto-check passed

The automated check found no risky patterns in SKILL.md.

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). 499 words, ~1,634 tokens.

Download SKILL.mdSave it as .claude/skills/material-override/SKILL.md (or your agent's skills folder).

name: material-override
description: Tune PBR metallic / roughness on URDF visual meshes without re-exporting DAE — author an inline `<material_override>` element inside any `<visual>`, and let the engine's URDF→USD pipeline patch the converter's defaults post-conversion. Useful for sim-to-real visual fidelity (DAE materials round-trip poorly; Isaac Sim's importer lands every embedded material at roughness=0.5, metallic=0.0 by default). Trigger: When the user asks to "tune material", "change roughness / metallic", "make the gripper shinier", "fix dull PBR", "override material", "PBR override", or any time the simulator looks washed out after a URDF→USD import.
license: MPL-2.0
metadata.author: genie-sim
metadata.version: 1.0
prerequisites: geniesim_ros:build-workspace

When to Use

Robot or asset visual meshes import with washed-out / flat shading after the URDF→USD converter runs.
User wants to A/B PBR values without re-exporting DAE meshes from Blender / Maya.
Polishing a robot for sim-to-real visual transfer.
Author of a new URDF (see add-robot skill) wants the meshes to look right without round-tripping DAE materials.

Do not use for:

Replacing albedo / textures → must be done in the DAE export.
Per-prim material at runtime → that's a runtime USD edit, not the <material_override> element.
Adding a brand-new material — only patches metallic / roughness on the embedded one.

Critical Patterns

Author inside <visual>, not on the link. The override auto-scopes to exactly the mesh it sits under. A link with N <visual> elements just gets N independent overrides.
urdfdom / RSP / MoveIt / Isaac's converter all ignore it. assemble_robot.py strips the element from the URDF it feeds the converter, then re-applies the values to the converted USD via _parse_material_override_blocks / _apply_material_overrides.
Only roughness and metallic are exposed. Other UsdPreviewSurface inputs (specular, opacity, IOR) are not on the contract.
Range 0..1. Outside that range the importer warns and clamps.
No attributes needed. Scoping is positional. Don't try to target a sibling visual by name — author one override per visual.

Schema

xml

<visual>
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
    <mesh filename="package://.../base_link.dae"/>
  </geometry>
  <material_override>
    <roughness>0.45</roughness>
    <metallic>0.85</metallic>
  </material_override>
</visual>

Either child is optional — author only what you need. Default for an absent child is "leave as the converter wrote it" (typically 0.5 / 0.0 for DAE imports).

PBR cheat-sheet

Look	`roughness`	`metallic`	Notes
Brushed steel	0.40	0.95	Most arm shells
Anodised aluminium	0.55	0.30	UR-style structural
Polished chrome	0.05	1.00	Decorative trims, mirror parts
Matte plastic	0.70	0.00	Cable guards, end-stops
Rubber pads	0.85	0.00	Soft contact surfaces
Anodised gold (gripper bushings)	0.30	0.90	Highlights

These are starting points; A/B against a photograph of the real robot if you have one.

Show full SKILL.md (200 more words)Show less

Workflow

Step 1 — Find the visual you want to tune

bash

# Locate the URDF / xacro under genie_sim_robot_model
grep -nR "<visual>" source/geniesim_ros/src/ros_ws/src/genie_sim_robot_model/robots/ | head

Step 2 — Add the override

Open the xacro, drop <material_override> into the <visual> block. Existing reference: aloha arm xacro carries an override on every visual:

xml

<visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="${mesh_dir}/base_link.dae" />
  </geometry>
  <material_override><roughness>0.45</roughness><metallic>0.85</metallic></material_override>
</visual>

Step 3 — Rebuild the workspace

bash

geniesim ros build dev && source devel/setup.bash

Step 4 — Force a USD regenerate

The robot USD is cache-gated by manifest.json. Bust the cache:

bash

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

Step 5 — Launch and inspect

bash

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

In the OVRtx viewport, compare against the unmodified baseline. Iterate values, rebuild, re-launch.

Step 6 — Verify the converted USD

bash

grep -n "roughness\|metallic" assets/scenes/<scene>/robot/robot.usda | head

You should see the patched values on the relevant material prims.

Notes

assemble_robot.py walks each <visual> in author order; if a visual has multiple meshes (rare in our robots), the override applies to every embedded material of that visual.
The override is stripped from the URDF before it reaches the converter, so MoveIt / RSP / urdfdom never see it. They'll happily consume the same xacro.
For brand-new materials (no DAE-embedded source), prefer authoring a real <material> block — material_override is patch-only.
Material is rendered by OVRtx + Isaac Sim. The Newton GL viewer uses simple shading and won't reflect roughness / metallic — use OVRtx for visual QA.

Resources

Engine source: source/geniesim_ros/src/ros_ws/src/genie_sim_engine/scripts/assemble_robot.py → _parse_material_override_blocks / _apply_material_overrides
Reference usage: source/geniesim_ros/src/ros_ws/src/genie_sim_robot_model/robots/agilex/aloha/aloha.urdf.xacro
Engine AGENTS.md → "<material_override>": source/geniesim_ros/src/ros_ws/src/genie_sim_engine/AGENTS.md
Related skills: add-robot, launch-scene

Files

Just SKILL.md in source/geniesim_ros/skills/material-override of AgibotTech/genie_sim.

Open the folder on GitHubat commit 6ca11c7

Compare with similar skills

Material Override next to the 5 skills that share the most tags, products or categories with it. Stars are the repository's; “used in” counts other GitHub owners with a copy.

Material Override compared with similar skills
Skill	Stars	Used in	Tokens	Auto-check	Licence	Repo updated
Material Override this skillAgibotTech/genie_sim	1.4k	—	~1.6k	Automated safety check: Pass	MPL-2.0	1 mo ago
3D Metal MaterialMengTo/Skills	6.7k	—	~2.6k	Automated safety check: Pass	MIT	yesterday
LLM Fine Tuningsickn33/agentic-awesome-skills	47k	1 repos	~2.3k	Automated safety check: Pass	MIT	today
Metal Kernelpytorch/pytorch	104k	—	~4.9k	Automated safety check: Pass	Custom licence	today
Agent Mesh Coordinatorruvnet/ruflo	74k	3 repos	~3.2k	Automated safety check: Pass	MIT	today
Fine Tuning With TrlOrchestra-Research/AI-Research-SKILLs	13k	7 repos	~2.9k	Automated safety check: Pass	MIT	3 mo ago

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Add Robot
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Build Workspace
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Questions about Material Override

What does Material Override do?

Tune PBR metallic / roughness on URDF visual meshes without re-exporting DAE — author an inline <materialoverride element inside any <visual, and let the engine's URDF→USD pipeline patch the…. Material Override is an agent skill from AgibotTech/genie_sim. Tune PBR metallic / roughness on URDF visual meshes without re-exporting DAE — author an inline <materialoverride element inside any <visual, and let the engine's URDF→USD pipeline patch the converter's defaults post-conversion.

When should I use Material Override?

Material Override fits situations like: asks to tune material; change roughness / metallic; make the gripper shinier; override material.

How do I install Material Override in Claude Code?

Run `npx skills add AgibotTech/genie_sim --skill material-override -a claude-code`. Or copy the skill folder (source/geniesim_ros/skills/material-override in AgibotTech/genie_sim) into .claude/skills/material-override in your project. Claude Code loads it when a task matches its description.

How do I install Material Override in Codex?

Run `npx skills add AgibotTech/genie_sim --skill material-override -a codex`. Or copy the skill folder (source/geniesim_ros/skills/material-override in AgibotTech/genie_sim) into .agents/skills/material-override in your project. Codex loads it when a task matches its description.

Can I use Material Override in Cursor, Gemini CLI or GitHub Copilot?

Cursor, Gemini CLI, GitHub Copilot and OpenCode also load SKILL.md folders. With the skills CLI, run `npx skills add AgibotTech/genie_sim --skill material-override -a cursor` (or -a gemini-cli, github-copilot or opencode for the others). To copy it by hand, put the folder in .cursor/skills/material-override, .gemini/skills/material-override, .github/skills/material-override and .opencode/skills/material-override in your project.

What does Material Override need to run?

SKILL.md names no scripts, command-line tools or credentials: Material Override is instructions for the agent only.

Does Material Override access the network?

SKILL.md contains no URLs. Any network use would come from the scripts or tools the agent runs. This is read from the text; nothing was executed.

Is Material Override safe to install?

Our automated static check of SKILL.md found no risky patterns, such as piping downloads into a shell, reading credential files or hidden Unicode. It is not a guarantee. Review the folder before installing.

What licence does Material Override use?

Material Override is published under the MPL-2.0 licence (declared in SKILL.md). It allows redistribution, so the full SKILL.md is shown on this page.

How many tokens does Material Override use?

About 1.6k tokens (SKILL.md is roughly 6.5k characters). Agents keep only the skill's name and description in context until a task matches; then they load SKILL.md in full.

What are the alternatives to Material Override?

Skills that share tags, products or a category with Material Override: 3D Metal Material (MengTo/Skills, 6.7k stars), LLM Fine Tuning (sickn33/agentic-awesome-skills, 47k stars), Metal Kernel (pytorch/pytorch, 104k stars) and Agent Mesh Coordinator (ruvnet/ruflo, 74k stars). The comparison table on this page puts their stars, adoption, token cost, safety result and licence side by side.

Who maintains Material Override?

AgibotTech (a GitHub organization) maintains it in AgibotTech/genie_sim, which has 1,414 GitHub stars. The repository holds 26 skills in this directory. The repository was last updated on September 7, 2026.

Source: AgibotTech/genie_sim on GitHub. Facts on this page come from the repository at the commit we read; the author's words are quoted as theirs.

Install Material Override

Facts

At a glance

What it does

When your agent uses it

Example prompts

Workflow steps

What it can do on your machine

Tool permissions

Runs code

Network

Credentials

Context cost

Safety

SKILL.md

When to Use

Critical Patterns

Schema

PBR cheat-sheet

Workflow

Step 1 — Find the visual you want to tune

Step 2 — Add the override

Step 3 — Rebuild the workspace

Step 4 — Force a USD regenerate

Step 5 — Launch and inspect

Step 6 — Verify the converted USD

Notes

Resources

Files

Compare with similar skills

Similar skills

More from AgibotTech/genie_sim

Questions about Material Override