[sylvesterkaczmarek]

Carries over the two documentation clarifications from NVIDIA/cosmos#334 and NVIDIA/cosmos#338 after the cookbooks moved into Cosmos Framework.

• Explain that supported action widths depend on registered embodiment/domain definitions and compatible model weights, including dataset-defined exceptions. Addresses action Space and the embodiment cosmos#220.
• Explain that the published AgiBotWorld omnipicker URDF is an FK/kinematics reference; its mesh dependencies are absent, and the FK loader removes visual/collision elements. Addresses question about agibotworld urdf cosmos#305.

Both original PRs were closed solely because the files migrated to .agents/skills/; this new PR preserves the original explanations at their new location.

Validation: Documentation-only change. Links to the domain registry and URDF were verified against upstream, and git diff --check passed. No runtime or model execution claimed.

DCO signed off. Thanks @yaoxu-crypto for the clear migration guidance.

[sylvesterkaczmarek]

Thanks for reviewing and approving this, @pengcuo. Appreciate the help getting the original documentation fixes into Cosmos Framework.