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Agent skill

Teleop Bridge

by AgibotTech in AgibotTech/genie_sim

Wire a geniesimteleop VR/Pico session into a running Genie Sim RT Engine scene — pick the right scene yaml, launch wbc.launch.py with useros2control:=false so movegroup serves /computeik while the…

MPL-2.0Auto-check passed

Install Teleop Bridge

skills CLI
$ npx skills add AgibotTech/genie_sim --skill teleop-bridge -a claude-code

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

GitHub CLI
$ gh skill install AgibotTech/genie_sim teleop-bridge --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/teleop-bridge .claude/skills/teleop-bridge && 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/

Facts

Skill name
teleop-bridge
GitHub stars
1.4k
Token cost
~1.5k tokens
SKILL.md length
444 words
Files
1
Skills in repo
26
Repo updated
First seen
Licence
MPL-2.0

At a glance

Wire a geniesimteleop VR/Pico session into a running Genie Sim RT Engine scene — pick the right scene yaml, launch wbc.launch.py with useros2control:=false so movegroup serves /computeik while the…

  • Works in 5 steps: Confirm the prerequisites → Launch MoveIt without controllers → Start teleop → …
  • Asks to connect teleop to the sim
  • SKILL.md covers When to Use, Critical Patterns, Workflow and Commands (copy-paste summary…, plus 2 more sections
  • Calls node

What it does

Teleop Bridge is an agent skill from AgibotTech/genie_sim. Wire a geniesimteleop VR/Pico session into a running Genie Sim RT Engine scene — pick the right scene yaml, launch wbc.launch.py with useros2control:=false so movegroup serves /computeik while the teleop publisher owns /jointcommand, and confirm no topic fighting. Trigger: When the user asks to "connect teleop to the sim", "桥接 teleop", "drive the engine with VR", "use teleop instead of ros2control", "stop the controllers from fighting teleop", or has a teleop loop ready and a scene up but the robot jitters /…

Its SKILL.md is about 1.5k 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 connect teleop to the sim
  • Drive the engine with VR
  • Use teleop instead of ros2control
  • Stop the controllers from fighting teleop

Example prompts

  • “connect teleop to the sim”
  • “桥接 teleop”
  • “drive the engine with VR”
  • “/teleop-bridge”

Requirements

  • Docker

Workflow steps

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

  1. Confirm the prerequisites
  2. Launch MoveIt without controllers
  3. Start teleop
  4. Verify single-publisher on /joint_command
  5. Plan-then-execute combo (optional)

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:

    • node

    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

Teleop Bridge loads about 1.5k tokens when it runs. Until then it costs about 138 tokens; SKILL.md has 444 words of instructions outside code blocks.

Always · name and description, kept in context so the agent knows when to use it
~138
When it runs · the whole SKILL.md, loaded when a task matches
~1.5k

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). 444 words, ~1,464 tokens.

Download SKILL.mdSave it as .claude/skills/teleop-bridge/SKILL.md (or your agent's skills folder).
name
teleop-bridge
description
Wire a `geniesim_teleop` VR/Pico session into a running Genie Sim RT Engine scene — pick the right scene yaml, launch `wbc.launch.py` with `use_ros2_control:=false` so move_group serves `/compute_ik` while the teleop publisher owns `/joint_command`, and confirm no topic fighting. Trigger: When the user asks to "connect teleop to the sim", "桥接 teleop", "drive the engine with VR", "use teleop instead of ros2_control", "stop the controllers from fighting teleop", or has a teleop loop ready and a scene up but the robot jitters / flicks.
license
MPL-2.0
metadata.author
genie-sim
metadata.version
1.0
prerequisites
geniesim_ros:launch-scene, geniesim_teleop:run-teleop

When to Use

  • VR teleop loop (geniesim_teleop skill run-teleop) and an RT Engine scene (launch-scene skill) need to share /joint_command without the ros2_control hardware interface rebroadcasting it at the controller-manager update rate.
  • User sees "the arm jitters / payloads get flung" — that's the classic two-publisher symptom.
  • External motion script (e.g. wok_flip_cmds.py) and MoveIt are both interested in the same topic.

Do not use for:

  • Starting the teleop loop itself → run-teleop skill in geniesim_teleop.
  • MoveIt planning with the simulator's controllers driving → moveit-wbc skill (default mode).
  • Recording the teleop session → record-episode skill.

Critical Patterns

  1. use_ros2_control:=false is the bridge switch. With it, wbc.launch.py starts move_group only (/compute_ik, /compute_fk) and skips the ros2_control node + controller spawners. /joint_command then has exactly one source: teleop.
  2. Match scene gripper to teleop config. run-teleop defaults to G2_omnipicker.json. Use scene_pnp_g2_op (or any scene_*_g2_op) so the engine is built with the same gripper the teleop loop expects. Mismatched grippers produce a robot MoveIt can plan against but the engine refuses to drive.
  3. Three processes, three shells. Scene + MoveIt + teleop each run as a long-lived ROS node. Don't try to background them in one shell — the engine and teleop both want stdin / SIGINT semantics.
  4. use_sim_time:=true is engine-side, but the teleop loop publishes wall-clock by default. The bridge uses sim time inside the scene; the publisher rate adapts. Don't override unless you know what you're doing.

Workflow

Step 1 — Confirm the prerequisites
  • Scene is up via launch-scene skill (e.g. scene_pnp_g2_op × launcher_ovrtx_isaac_physx).
  • Teleop config matches the scene's gripper.
  • VR device reachable, default port 8080.
Step 2 — Launch MoveIt without controllers

In a fresh shell:

bash
source devel/setup.bash

ros2 launch genie_sim_moveit wbc.launch.py \
  arm:=crsB \
  gripper:=omnipicker \
  use_ros2_control:=false

Console banner should print:

[wbc.launch.py] use_ros2_control=false → move_group only (no ros2_control
node / controllers); drive the arm via /joint_command.
Show full SKILL.md (176 more words)Show less
Step 3 — Start teleop

In another shell (geniesim docker into):

bash
geniesim teleop run \
  --device_type=pico \
  --port=8080 \
  --robot_config=G2_omnipicker.json
Step 4 — Verify single-publisher on /joint_command
bash
ros2 topic info /joint_command -v
# Publishers should list exactly one: the teleop node.

If you see two publishers, you forgot use_ros2_control:=false — stop MoveIt and relaunch with the flag.

Step 5 — Plan-then-execute combo (optional)

Even without ros2_control, /compute_ik is still available. So you can:

  • Use MoveIt's RViz markers to plan and call /compute_ik for manual goals.
  • Hand the resulting joint target to your teleop publisher (or skip MoveIt entirely for direct VR drive).

Commands (copy-paste summary for the user)

bash
# Shell 1 — scene
source devel/setup.bash
ros2 launch genie_sim_bringup app.launch.py \
  scene:=scene_pnp_g2_op \
  launcher_config:=launcher_ovrtx_isaac_physx \
  headless:=false   # local workstation with a screen; flip to true on a remote/headless host

# Shell 2 — MoveIt, no controllers
source devel/setup.bash
ros2 launch genie_sim_moveit wbc.launch.py \
  arm:=crsB gripper:=omnipicker use_ros2_control:=false

# Shell 3 — teleop loop
geniesim teleop run --device_type=pico --port=8080 \
  --robot_config=G2_omnipicker.json

# Verify single publisher
ros2 topic info /joint_command -v

Notes

  • simple_body_controller is configured but not auto-spawned even in the controller mode — it conflicts with simple_waist_controller + simple_torso_controller on the same body-joint resources. The teleop bridge avoids that ambiguity by not spawning any of them.
  • For wok-flip / scripted motion (wok_flip_cmds.py, benchmark replay scripts), the same use_ros2_control:=false flag applies — anything that owns /joint_command directly needs the controllers out of the way.
  • The teleop loop has its own per-episode recording hooks (--record-dir). For raw-topic recording on top, see the record-episode skill.

Resources

© 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/teleop-bridge of AgibotTech/genie_sim.

Open the folder on GitHubat commit 6ca11c7

Compare with similar skills

Teleop Bridge 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.

Teleop Bridge compared with similar skills
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Teleop Bridge this skillAgibotTech/genie_sim1.4k—~1.5kAutomated safety check: PassMPL-2.0
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Cowork To Code Bridgesickn33/agentic-awesome-skills47k1 repos~2.6kAutomated safety check: PassMIT
Wiringparcadei/Continuous-Claude-v33.9k1 repos~1.7kAutomated safety check: PassMIT
Bridgealsk1992/CloddsBot2.9k—~1.3kAutomated safety check: PassMIT
Bridgejeremylongshore/tons-of-skills-marketplace2.8k—~3.5kAutomated safety check: PassMIT

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Questions about Teleop Bridge

What does Teleop Bridge do?

Wire a geniesimteleop VR/Pico session into a running Genie Sim RT Engine scene — pick the right scene yaml, launch wbc.launch.py with useros2control:=false so movegroup serves /computeik while the…. Teleop Bridge is an agent skill from AgibotTech/genie_sim.py with useros2control:=false so movegroup serves /computeik while the teleop publisher owns /jointcommand, and confirm no topic fighting.

When should I use Teleop Bridge?

Teleop Bridge fits situations like: asks to connect teleop to the sim; drive the engine with VR; use teleop instead of ros2control; stop the controllers from fighting teleop.

How do I install Teleop Bridge in Claude Code?

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

How do I install Teleop Bridge in Codex?

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

Can I use Teleop Bridge 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 teleop-bridge -a cursor` (or -a gemini-cli, github-copilot or opencode for the others). To copy it by hand, put the folder in .cursor/skills/teleop-bridge, .gemini/skills/teleop-bridge, .github/skills/teleop-bridge and .opencode/skills/teleop-bridge in your project.

What does Teleop Bridge need to run?

Going by SKILL.md and its folder, Teleop Bridge needs the command-line tools its instructions call (node). Our summary lists: Docker.

Does Teleop Bridge 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 Teleop Bridge 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 Teleop Bridge use?

Teleop Bridge 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 Teleop Bridge use?

About 1.5k tokens (SKILL.md is roughly 5.9k 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 Teleop Bridge?

Skills that share tags, products or a category with Teleop Bridge: Memory Bridge (ruvnet/ruflo, 74k stars), Cowork To Code Bridge (sickn33/agentic-awesome-skills, 47k stars), Wiring (parcadei/Continuous-Claude-v3, 3.9k stars) and Bridge (alsk1992/CloddsBot, 2.9k stars). The comparison table on this page puts their stars, adoption, token cost, safety result and licence side by side.

Who maintains Teleop Bridge?

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.