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name: simulation description: "Route the historical V-REP/CoppeliaSim simulation workflows for Visual Pushing and Grasping: external scene/API setup, safe preset validation, demo, training, testing, and custom test-case authoring." disable-model-invocation: true metadata: disco-role: operating license: BSD 2-Clause

Simulation

Use this skill when a task needs the simulator-backed path of Visual Pushing and Grasping (VPG): an operator-supplied V-REP/CoppeliaSim scene, a legacy remote API service, approved mesh assets, a preset case, and an operator- supplied application loop.

Route first

• Prepare or diagnose a simulator: read workflows.md and then compatibility.md.
• Validate or author a preset: read test-case-format.md, then run the only directly runnable simulation helper from a shell. It never starts a simulator.
• Run a demo, training session, or test: use the explicitly gated <APP_ROOT>/main.py templates in workflows.md. Keep model/training internals and metrics in their respective skills.
• Recover a failed run: use troubleshooting.md in order; do not retry blindly against a live simulator.

Non-negotiable boundary

The runtime graph supplies no simulation main loop, scene, native remote API client, mesh assets, test presets, or model weights. V-REP/CoppeliaSim, its scene and child script, the platform-compatible native API, approved meshes, case files, snapshots, and a separately reviewed application root are external operator prerequisites. The graph cannot make the historical application portable by pointing it at source-relative paths.

Let <skill-root> mean the directory containing the root SKILL.md. The only directly runnable simulation helper is:

python <skill-root>/sub-skills/simulation/scripts/validate_test_case.py \
  <CASE> --expected-object-count <COUNT> --mesh-dir <MESH_DIR>

<CASE> and <MESH_DIR> are operator-supplied paths. This static gate checks the ten-field case schema and optional mesh containment; it does not connect to or start a simulator, load a native API, import an object, or test physics.

External application template

After manually starting and inspecting an approved external scene, an operator may separately review a guarded application invocation. Every placeholder is required and external:

python <APP_ROOT>/main.py --is_sim \
  --obj_mesh_dir <MESH_DIR> --num_obj <COUNT> \
  --is_testing --max_test_trials 1 --test_preset_cases \
  --test_preset_file <CASE> --load_snapshot \
  --snapshot_file <SNAPSHOT> --logging_directory <LOG_DIR>

<APP_ROOT>/main.py is not bundled here. <APP_ROOT> must be a separately reviewed application copy; <MESH_DIR>, <CASE>, <SNAPSHOT>, and <LOG_DIR> must be operator-approved external paths. This template is a gated launch, not a verification command. Confirm the scene, remote API, handles, mesh provenance, snapshot provenance, stop plan, and one-trial abort procedure before allowing action execution. The training route owns the configuration validator and model flags.

External simulator contract

The historical adapter connects to 127.0.0.1:19997 using the legacy remote API. Configure an approved external scene's child script to expose that port, with the remoteApiCommandServer object and importShape callback. The scene must provide compatible UR5_target, UR5_tip, RG2_openCloseJoint, and Vision_sensor_persp handles, camera/depth behavior, and dynamics. A historical comment mentions 19999, but the implemented client endpoint is 19997; do not change ports by guesswork.

The source artifact's simulation/vrep.py, simulation/vrepConst.py, simulation/remoteApi.so, simulation/simulation.ttt, objects/blocks, and simulation/test-cases/ are construction evidence labels only. They are not bundled runtime inputs and no user instruction should require the original checkout. Supply approved external copies instead.

The historical simulation adapter exposes virtual RGB-D observations and push and grasp primitives. Restart, object import, scene dynamics, handle lookup, and camera behavior remain external integration responsibilities. Stop on missing handles, API errors, unexpected motion, unstable resets, or malformed frames; do not interpret a successful static validation as policy or physics evidence.

Compatibility and authoring boundary

The published pretrained simulation snapshot has historical PyTorch 0.3 provenance. A current stack may reject its serialization or operators; verify a snapshot only in an explicitly approved application environment and preserve the original. Current-Python helper checks do not establish full-loop compatibility.

Do not invoke the historical source create.py for verification. It is a source artifact with interactive simulator and robot side effects, not a bundled helper. To author a case, create or edit a copy in an operator-owned workspace, preserve the documented ten-field schema, and run the bundled validator above. Never write generated cases or logs into this runtime skill.

Scope exclusions

Do not route model architecture, optimization, snapshots as training internals, metrics, plots, UR5 TCP/real-time control, or RealSense operation here. Route those requests to the training, evaluation, or real-robot skills.