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name: simulation-core description: "RoboTwin simulator bootstrap, task-class API, robot/camera configuration, and render troubleshooting." metadata: disco-role: operating disable-model-invocation: true license: MIT

simulation-core

Use this skill for RoboTwin work that depends on the simulator core: task classes, scene bootstrap, robot and camera wiring, embodiment config, action helpers, render smoke checks, and simulation troubleshooting. If you only have the generated skill tree, use the root workspace bootstrapper first to materialize a pinned public workspace before running simulator work.

Owns

• Base_Task lifecycle and task subclass structure
• SAPIEN engine/scene/bootstrap and render refresh
• Robot, camera, and embodiment config interpretation
• Actor construction helpers and action helpers
• Render smoke and task-import smoke
• Simulation/debug troubleshooting for bootstrap, planning, and capture

Route elsewhere

• Data download, normalization, and trajectory conversion → data-pipeline
• Policy evaluation, XPolicyLab scheduling, and server setup → policy-eval

Start here

1. Read references/api-reference.md for the task and helper APIs.
2. Read references/configuration.md for task, camera, robot, and embodiment configs.
3. If you only need to confirm the render path, run scripts/check_render_smoke.py.
4. If a task import fails before scene setup, check the asset prerequisites in references/troubleshooting.md.

Native checks

• render-smoke: bundled SAPIEN bootstrap and camera capture smoke.
• task-import-smoke: import one representative task module after assets are present and verify its Base_Task path initializes cleanly.

Good fits

• "How do I structure a new task class?"
• "Why does a grasp/place plan fail?"
• "Which config key controls cameras, embodiment, or eval step limits?"
• "Why does SAPIEN render bootstrap fail on this machine?"

Not here

• Dataset download or HDF5 layout questions
• Policy-server, adapter, or multi-GPU eval questions
• LLM-based task generation or instruction writing

For deeper details, use the bundled references and keep simulator-specific debugging here.