AgentSkillsCN

genesis_scene_builder

阶段 3：根据布局方案构建 Genesis 物理仿真环境。适用场景：(1) 需要实例化物理仿真；(2) 加载带有初始位姿的 URDF/MJCF 资产；(3) 配置物理参数与传感器。完成后返回已初始化的场景引用，供后续验证使用。

SKILL.md
--- frontmatter
name: genesis_scene_builder
description: "Stage 3: Constructs Genesis physics simulation environment from layout plan. Use when: (1) Need to instantiate physical simulation, (2) Load URDF/MJCF assets with initial poses, (3) Configure physics parameters and sensors. Returns initialized scene reference for validation."
metadata:
  stage: "3"

Genesis Scene Builder

Overview

Creates complete Genesis simulation environment from optimized layout data. Handles asset loading, pose initialization, and simulation configuration.

When to Use This Skill

  • •After Stage 2 placement optimization is complete and user-confirmed
  • •Ready to build 3D physics simulation
  • •First step of Stage 3 (Validation)

Workflow Instructions for Agent

Step 1: Prepare Layout JSON Take the optimized layout from placement_solver and save to file:

python
import json
with open('optimized_layout.json', 'w') as f:
    json.dump(optimized_layout, f)

Step 2: Execute Scene Builder Run the Genesis scene construction:

bash
python skills/genesis_scene_builder/scripts/build_scene.py --layout_json "optimized_layout.json" --physics_substeps 10

Step 3: Parse Build Status Script outputs:

json
{
  "scene_id": "workcell_scene_123",
  "entities_spawned": [
    {"type": "robot", "model": "franka_panda", "status": "success"},
    {"type": "table", "model": "standard_table", "status": "success"}
  ],
  "simulation_ready": true,
  "build_time_ms": 1250
}

Step 4: Check Build Status

  • •Verify all entities spawned successfully
  • •Check simulation_ready: true
  • •Report any spawn failures to user

Step 5: Present Simulation Status Inform user:

  • •Scene built successfully
  • •List all spawned entities
  • •Ready for validation

Step 6: Next Action If successful → Load simulation_validator skill to run physics checks

Usage

bash
python scripts/build_scene.py --layout_json "layout_plan.json" --physics_substeps 10

Asset Mapping

  • •robot → robots/franka_panda/panda.urdf
  • •table → furniture/table_standard.urdf
  • •box → objects/box_medium.urdf
  • •conveyor → machinery/conveyor_belt.urdf

Scene Configuration

  • •Physics: gravity [0, 0, -9.8], dt=0.01
  • •Lighting: ambient + directional lights
  • •Camera: overhead view at [0, 0, 2.0]
  • •Fixed base: robot, table, conveyor

Input Schema

{ "layout_plan": "object", "physics_settings": { "gravity": [0, 0, -9.8], "substeps": 10 } }

Output Schema

{ "scene_id": "string", "loaded_assets": ["panda", "table", "box_1"], "ready_to_sim": "boolean" }