[sylvesterkaczmarek]

Summary

• clarify that the public AgiBotWorld FK path uses G1_omnipicker_calibrated.urdf as a kinematics reference
• document that the URDF's referenced visual mesh package is not bundled in robot_assets
• explain that the FK loader strips visual and collision elements before constructing its MuJoCo kinematics model
• clarify that the committed file is not a complete renderable description for every AgiBotWorld gripper variant

Why

Issue #305 asks why the AgiBotWorld Beta data appears to use a CTEK gripper while the available URDF is an omnipicker description, and asks for the complete mesh-backed URDF.

The current public Cosmos Framework hard-codes G1_omnipicker_calibrated.urdf for the AgiBotWorld FK path. The URDF contains package://genie_robot_description/meshes/... references, but the corresponding mesh package is not included in the public robot_assets directory. This does not block the current action FK path because the loader explicitly removes <visual> and <collision> elements before loading the model into MuJoCo.

This documentation change makes the scope of the published robot description explicit and avoids implying that it is a complete renderable CTEK/omnipicker asset package.

Validation

Documentation-only change. Cross-checked against agibot_spec.py, agibot_fk.py, the committed G1_omnipicker_calibrated.urdf, and the current robot_assets directory in NVIDIA/cosmos-framework.

Addresses #305

[sylvesterkaczmarek]

Refreshed this docs PR onto current main today. It is now 0 commits behind and mergeable, and the diff remains limited to the intended documentation file. This has been quiet for over two weeks. Could a maintainer please review/merge it, or let me know if any wording change is needed?

[sylvesterkaczmarek]

Could a maintainer review the AgiBotWorld URDF scope clarification? The PR and its validation workflow are still waiting for review and approval.

[yaoxu-crypto]

Thanks for this, @sylvesterkaczmarek. The Cosmos cookbooks and evaluation suites have moved to NVIDIA/cosmos-framework under .agents/skills/ and were removed from this repo in #384, so this PR can no longer merge here.

The AgiBotWorld URDF scope note (#305) isn't in Cosmos Framework yet. Could you re-submit it against .agents/skills/cookbooks/cosmos3/generator/action/README.md? Your #334 edits the same file, so one PR covering both would be fine.

The relative paths are unchanged, just under .agents/skills/ (for example cookbooks/cosmos3/... is now .agents/skills/cookbooks/cosmos3/...). Please note that Cosmos Framework requires DCO sign-off on each commit (git commit -s, see CONTRIBUTING.md). I'm closing this PR because it can't merge here, but the work is welcome there. Please link this PR from the new one so the earlier discussion and reviews carry over. Thanks for your patience, and sorry it sat here while the move happened.