launch-scene

name	launch-scene
description	Launch a `genie_sim_bringup` scene against a chosen physics + render backend, using `ros2 launch genie_sim_bringup app.launch.py`. Covers the scene × launcher matrix (pick-and-place / whole-body-control / flat-table demos × Isaac PhysX / Newton-standalone backends) and the optional MoveIt 2 + WBC RViz overlay. Trigger: When the user asks to "launch a scene", "启动场景", "run pnp", "run wbc", "start the simulator", names any `scene_*.yaml` or `launcher_*.yaml`, or wants to bring up the RT Engine in interactive mode (with or without rviz / moveit).
license	MPL-2.0
metadata	{"author":"genie-sim","version":"1.0"}
prerequisites	["geniesim_ros:build-workspace"]
inputs	[{"name":"scene","desc":"scene yaml basename (e.g. `scene_pnp_g2_op`)","required":true},{"name":"launcher_config","desc":"launcher yaml basename","required":false,"default":"launcher_ovrtx_isaac_physx"},{"name":"headless","desc":"GUI off","required":false,"default":"false"}]
outputs	[{"desc":"Live ROS 2 graph publishing `/clock`, `/tf`, `/joint_states`, `/joint_command`, camera topics"}]

When to Use

• User wants to bring up the Genie Sim RT Engine interactively — physics + render + ROS topics on one shared sim_time.
• User references any scene yaml under source/geniesim_ros/src/ros_ws/src/genie_sim_bringup/config/scene_*.yaml or launcher yaml launcher_*.yaml.
• User wants MoveIt 2 + WBC RViz on top of a running scene (Genie G2 only).

Do not use for:

• Running a benchmark task → run-benchmark (under source/geniesim_benchmark/skills/).
• Probing an inference server → check-inference.
• Building the workspace first → build-workspace. Run that before this skill.

Critical Patterns

1. Scene = robot + task; Launcher = physics engine + renderer. They're orthogonal axes — pair any scene with any launcher.
2. Stable path is launcher_ovrtx_isaac_physx. Every launcher_newton_* and launcher_ovrtx_isaac_newton row is research / preview — physics behaviour, perf, and yaml schema can break between commits. Use the stable launcher unless the user explicitly wants the experimental rig (cloth / soft body / mjwarp).
3. MoveIt is Genie G2 only. Other robots run on the engine but don't have a packaged MoveIt config.
4. Inside the container. Every command below assumes geniesim docker into and source devel/setup.bash (see build-workspace skill).

The matrix

Scenes

Scene	Robot	What it showcases
scene_pnp_g2_op	Genie G2 + omnipicker	Pick-and-place workflow
scene_wbc_g2_sp	Genie G2 + swiftpicker	Whole-body control workflow
scene_flat_g2_sp	Genie G2 + swiftpicker, flat table	Baseline tabletop
scene_flat_acone	ARX acone	Reference robot (tabletop)