From 10894fe58fabd3b4e544441db545469c857e9172 Mon Sep 17 00:00:00 2001 From: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com> Date: Wed, 30 Sep 2026 18:40:56 +0100 Subject: [PATCH] docs(action) clarify AgiBotWorld URDF scope Refreshed onto current upstream. Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com> --- cookbooks/cosmos3/generator/action/README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/cookbooks/cosmos3/generator/action/README.md b/cookbooks/cosmos3/generator/action/README.md index 8cd94264..eed378da 100644 --- a/cookbooks/cosmos3/generator/action/README.md +++ b/cookbooks/cosmos3/generator/action/README.md @@ -62,6 +62,20 @@ fingers. Action data samples across different embodiments can be inspected interactively in the [Cosmos3 Action Viewer](https://huggingface.co/spaces/nvidia/Cosmos3-Action-Viewer) Hugging Face Space. +### AgiBotWorld robot description + +The public Cosmos Framework AgiBotWorld forward-kinematics path currently uses the +committed [`G1_omnipicker_calibrated.urdf`](https://github.com/NVIDIA/cosmos-framework/blob/main/cosmos_framework/data/generator/action/robot_assets/G1_omnipicker_calibrated.urdf) +as its calibrated kinematics reference. The URDF contains `package://` references to +visual meshes, but those mesh files are not bundled in the framework's `robot_assets` +directory. They are not required by the action FK path: the loader removes `` +and `` elements before constructing its MuJoCo kinematics model. + +Accordingly, the committed file should be treated as the kinematics reference for the +registered omnipicker-based AgiBotWorld action path, not as a complete renderable robot +asset package or a generic description for every AgiBotWorld gripper variant. The public +framework does not currently include a separate CTEK URDF or the referenced mesh package. + ## Run with Cosmos Framework ### Quickstart