AgentSkillsCN

simulation_validator

阶段 3：通过仿真验证物理可行性。适用场景：(1) 需要验证布局的稳定性和安全性；(2) 检查是否存在碰撞与静态平衡问题；(3) 通过逆运动学验证机器人的可达性。系统会循环运行仿真，并针对具体失败原因给出通过或未通过的判定结果。

SKILL.md
--- frontmatter
name: simulation_validator
description: "Stage 3: Validates physical feasibility through simulation. Use when: (1) Need to verify layout stability and safety, (2) Check for collisions and static equilibrium, (3) Validate robot reachability with IK. Runs simulation loop and reports pass/fail with specific failure reasons."
metadata:
  stage: "3"

Simulation Validator

Overview

Executes physics simulation to verify layout feasibility. Performs multiple validation checks to ensure safe, stable, and reachable workcell configuration.

Usage

bash
python scripts/validate_simulation.py --scene_id "scene_1234" --checks "stability,collision,ik" --sim_steps 200

Validation Checks

1. Static Stability

  • •Simulates physics for N steps
  • •Checks for toppling (high aspect ratio objects)
  • •Monitors orientation changes
  • •Pass: All objects remain stable

2. Collision Detection

  • •Checks all entity pairs for interpenetration
  • •Uses bounding box overlap detection
  • •Includes safety margins
  • •Pass: No collisions detected

3. IK Reachability

  • •Calculates 2D distance from robot to objects
  • •Compares against robot max reach
  • •Pass: All objects within reach envelope

Result Format

  • •pass: All checks passed
  • •fail: One or more checks failed with specific reasons

Input Schema

{ "scene_id": "string", "checks_required": ["stability", "collision", "ik_reachability"] }

Output Schema

{ "result": "pass/fail", "failure_reason": "string (e.g., 'Collision detected between Robot_Link_5 and Table')", "sim_data": "object (Optional telemetry)" }