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docs(action) clarify AgiBotWorld URDF scope #338

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docs(action) clarify AgiBotWorld URDF scope #338

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14 changes: 14 additions & 0 deletions cookbooks/cosmos3/generator/action/README.md
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Expand Up @@ -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 `<visual>`
and `<collision>` 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
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