Each SKILL.md is a self-contained recipe an agent (or human) can follow end-to-end. cat the file to read it.
| Skill | When to use |
|---|---|
| build-workspace | After geniesim docker into, before any ros2 launch …. Builds the colcon overlay. |
| launch-scene | Scene × launcher matrix — bring up genie_sim_bringup with a chosen physics backend. |
| moveit-wbc | Plan + RViz on top of a running G2 scene. Arm/gripper matrix, IK plugin A/B, /joint_command mode. |
| add-robot | URDF / xacro intake, offline mesh-prep tools, AS3 layout, scene wiring. |
| teleop-bridge | Wire geniesim_teleop into /joint_command without ros2_control fighting it. |
| record-episode | ros2 bag canonical-topic capture (the only recording path until a dedicated recorder distribution lands). |
| debug-physics | Contact / init / backend cookbook — convex hull, init swing, tunnelling, backend bisection. |
| material-override | Tune metallic / roughness PBR via <material_override> inside URDF <visual>. |
Recommended order for a new user: build-workspace → launch-scene → (moveit-wbc | teleop-bridge | record-episode) → debug-physics if needed.
For the canonical package table + AS2/AS3 dispatch + wheel layout, see ../AGENTS.md.
For the engine overview + scene × launcher matrix, see ../README.md.