How do I install the Asset Process skill?

Run npx skillmds@latest add horizonrobotics/asset-process in your terminal (requires Node.js), paste this page's agent-chat prompt into Claude, Cursor, or any MCP-connected agent, or download the SKILL.md file and copy it into your agent's skills directory.

Is Asset Process safe to use?

This skill has not completed SkillMD's automated safety review yet. SkillMD never runs a skill's scripts for you; review the SKILL.md before installing.

Which AI agents work with Asset Process?

This skill is tagged as working with Claude Code, Claude.ai, OpenAI Codex. SKILL.md is an open format, so most agents that read a skills directory can load it too.

Is Asset Process free to use?

Yes. Installing skills from SkillMD is free, and the skill stays under its author's original license.

Who published Asset Process?

horizonrobotics (@horizonrobotics) published this skill. Their other Agent Skills are listed on their SkillMD profile.

Asset Process by horizonrobotics — Agent Skill

Name: Asset Process
Author: horizonrobotics

Asset Process

Scale and rotate complete URDF-based 3D assets, including OBJ, GLB, collision meshes, Gaussian splats, and height metadata. Use this skill whenever a user asks to resize, rotate, reorient, or otherwise transform an EmbodiedGen asset while keeping its related files synchronized.

horizonrobotics 37ab9ce 3 files · 20.3 KB Updated Sep 17, 2026

File contents

Asset Processing

Overview

Use this skill to scale or rotate an asset and all of its supported geometry files consistently. Rotation is provided as XYZ Euler angles in degrees and is applied around the asset's local origin.

The input URDF may use either supported asset layout:

<asset_dir>/result/<asset_name>.urdf
<asset_dir>/<asset_name>.urdf

The mesh directory must be beside the URDF as mesh/.

Normal mode copies the complete asset directly to <output_dir>. Pass the full target asset directory, including the desired asset directory name. Inplace mode modifies the source asset.

After processing, the tool calculates the transformed mesh's Y-axis extent and writes that value to min_height, max_height, and real_height in the URDF. It uses the main OBJ first, then the GLB, then the collision OBJ.

CLI Examples

Scale Only

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/assets/red_box/result/red_box.urdf \
  --scale-factor 0.8 \
  --output-dir outputs/processed

Rotate Only

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/assets/red_box/result/red_box.urdf \
  --rot-xyz 90 0 45 \
  --output-dir outputs/processed

Scale and Rotate

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/test_wuwen/facial_cleanser_001/facial_cleanser_001.urdf \
  --scale-factor 1.0 \
  --rot-xyz 0 90 0 \
  --keep-urdf-raw-rot \
  --output-dir outputs/test_wuwen/facial_cleanser_001_processed

--keep-urdf-raw-rot is optional. When enabled, the inverse baked rotation is composed into visual and collision origin rpy values so their effective rotation remains unchanged. It is disabled by default.

Process Inplace

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/assets/red_box/result/red_box.urdf \
  --scale-factor 0.8 \
  --rot-xyz 0 0 90 \
  --inplace

Inplace mode modifies the original asset files.

Parameters

Parameter	Default	Meaning
`urdf_path`	Required	Input URDF path
`scale_factor`	`1.0`	Positive uniform scaling factor
`rot_xyz`	`0 0 0`	XYZ roll, pitch, yaw in degrees
`keep_urdf_raw_rot`	`False`	Preserve the original effective URDF rotation
`inplace`	`False`	Modify source files directly
`output_dir`	`None`	Complete target asset directory; required outside inplace mode

Processed Files

mesh/<name>.obj
mesh/<name>.glb
mesh/<name>_collision.obj
mesh/<name>_gs.ply (optional; skipped when absent)
<name>.urdf

Rotation is always baked into the asset files. URDF visual and collision origin rpy values are updated only when keep_urdf_raw_rot is enabled.

For Python API details, read embodied_gen/skills/asset-process/asset_process.py.

---name: asset-processdescription: Scale and rotate complete URDF-based 3D assets, including OBJ, GLB, collision meshes, Gaussian splats, and height metadata. Use this skill whenever a user asks to resize, rotate, reorient, or otherwise transform an EmbodiedGen asset while keeping its related files synchronized.---# Asset Processing## OverviewUse this skill to scale or rotate an asset and all of its supported geometryfiles consistently. Rotation is provided as XYZ Euler angles in degrees and isapplied around the asset's local origin.The input URDF may use either supported asset layout:```text<asset_dir>/result/<asset_name>.urdf<asset_dir>/<asset_name>.urdf```The mesh directory must be beside the URDF as `mesh/`.Normal mode copies the complete asset directly to `<output_dir>`. Pass thefull target asset directory, including the desired asset directory name.Inplace mode modifies the source asset.After processing, the tool calculates the transformed mesh's Y-axis extent andwrites that value to `min_height`, `max_height`, and `real_height` in the URDF.It uses the main OBJ first, then the GLB, then the collision OBJ.## CLI Examples### Scale Only```bashpython -m embodied_gen.skills.asset-process.asset_process \ --urdf-path outputs/assets/red_box/result/red_box.urdf \ --scale-factor 0.8 \ --output-dir outputs/processed```### Rotate Only```bashpython -m embodied_gen.skills.asset-process.asset_process \ --urdf-path outputs/assets/red_box/result/red_box.urdf \ --rot-xyz 90 0 45 \ --output-dir outputs/processed```### Scale and Rotate```bashpython -m embodied_gen.skills.asset-process.asset_process \ --urdf-path outputs/test_wuwen/facial_cleanser_001/facial_cleanser_001.urdf \ --scale-factor 1.0 \ --rot-xyz 0 90 0 \ --keep-urdf-raw-rot \ --output-dir outputs/test_wuwen/facial_cleanser_001_processed````--keep-urdf-raw-rot` is optional. When enabled, the inverse baked rotation iscomposed into visual and collision `origin rpy` values so their effectiverotation remains unchanged. It is disabled by default.### Process Inplace```bashpython -m embodied_gen.skills.asset-process.asset_process \ --urdf-path outputs/assets/red_box/result/red_box.urdf \ --scale-factor 0.8 \ --rot-xyz 0 0 90 \ --inplace```Inplace mode modifies the original asset files.## Parameters| Parameter | Default | Meaning ||-----------|---------|---------|| `urdf_path` | Required | Input URDF path || `scale_factor` | `1.0` | Positive uniform scaling factor || `rot_xyz` | `0 0 0` | XYZ roll, pitch, yaw in degrees || `keep_urdf_raw_rot` | `False` | Preserve the original effective URDF rotation || `inplace` | `False` | Modify source files directly || `output_dir` | `None` | Complete target asset directory; required outside inplace mode |## Processed Files- `mesh/<name>.obj`- `mesh/<name>.glb`- `mesh/<name>_collision.obj`- `mesh/<name>_gs.ply` (optional; skipped when absent)- `<name>.urdf`Rotation is always baked into the asset files. URDF visual and collision`origin rpy` values are updated only when `keep_urdf_raw_rot` is enabled.For Python API details, read`embodied_gen/skills/asset-process/asset_process.py`.

Frequently asked questions