Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add D-Robotics/moss --skill rdk-accessoriesgit clone --depth 1 https://github.com/D-Robotics/mossWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/d-robotics/moss/rdk-accessories)<a href="https://agentmods.dev/skills/d-robotics/moss/rdk-accessories"><img src="https://agentmods.dev/badge/skills/d-robotics/moss/rdk-accessories.svg" alt="Measured on agentmods" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00332 | $0.03515 |
| Opus 5 | $0.00166 | $0.01758 |
| Sonnet 5 | $0.00066 | $0.00703 |
| Haiku 4.5 | $0.00033 | $0.00351 |
Grade B, and why
rdk-accessories scanned grade B with 1 finding against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 7d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Asks for rootmediumPrivilege escalation
A mod that escalates privileges can change anything on the machine, not only the project.
2. **Update TROS** — `sudo apt update && sudo apt upgrade`; check with `apt show tros-humble`. How it starts
The opening of the file, as written. The whole thing — 105 lines — stays where its author put it; the contents beside it link to each section on GitHub.
RDK Official Accessories
Bring up the four families of D-Robotics finished accessories: the GS130W / GS130Wi binocular cameras, the RDK IMU Module (BMI088), and the S100 / S600 Camera and MCU-Port expansion boards. Every one has an official pinout and an official driver/SDK — that is the line between this skill and DIY peripheral wiring.
Sources: D-Robotics
accessories_doc(GS130Wdocs/01_*, GS130Widocs/02_*, IMU moduledocs/03_*incl.05_software/**) andrdk_s_doc(docs/01_Quick_start/01_hardware_introduction/{01_rdk_s100,02_rdk_s600}/{02_camera,03_mcu_port}_expansion_board.md). Every non-trivial fact below was re-verified against those repos. Specs trace to the official spec sheets / pinlists as the single source of truth.
The one thing that trips people up
There are TWO different IMU chips in this lineup — do not mix them. The standalone RDK IMU Module is a Bosch BMI088 on the 40PIN header. The IMU built into the GS130Wi camera is an InvenSense ICM-42688-P, reached over the right-eye MIPI connector's shared I2C. Different chip → different driver name, IIO device name, registers, and bring-up path. The S100/S600 MCU-Port expansion boards also carry an on-board BMI088 (over SPI). Always confirm which part the user actually has before quoting a driver.
Decision cheat-sheet
| Accessory | Type | Core chip | Interface | Supported boards | Key gotcha |
|---|---|---|---|---|---|
| GS130W | Binocular depth camera | 2× SC132GS global-shutter | 2× 22-pin MIPI CSI-2 | X5 / X5 Module / S100 / S100P / S600 — NOT X3 (single MIPI only) | No IMU; baseline 80 mm; FFC contacts face away from PCB |
| GS130Wi | Binocular + IMU | 2× SC132GS + ICM-42688-P | 2× 22-pin MIPI + 3-pin IMU timestamp | same as GS130W | Baseline 70 mm; FFC contacts face toward PCB (opposite of GS130W); IMU shares right-eye I2C |
| RDK IMU Module | 6-axis IMU module | Bosch BMI088 | 40PIN (I2C or SPI via jumpers) | X5 / X5 Module direct; S100/S100P/S600 need jumper wiring — NOT X3 | Carries 3 LEDs + buzzer + DS18B20 temp sensor |
| S100 Camera Expansion Board | Expansion board | MAX96712 | 2× MIPI + 4× GMSL | S100 series only | Set SW2201 level (1.8/3.3 V) BEFORE plugging a MIPI camera |
| S600 Camera Expansion Board | Expansion board | 2× MAX96712 | 8× GMSL, NO MIPI | S600 series only | Pure GMSL; DC plug 2.5/5.5 mm (≠ S100's 6 mm) |
| S100/S600 MCU-Port Expansion Board | Expansion board | on-board BMI088 | 5× CAN FD + 30-pin (+ RJ45 on S100 only) | each its own series | S100 IMU "not yet implemented in SDK V4.0.2" |
What ships with it
4 files beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 7d ago First seen · 105 lines · 332 tokens per session scan B dfa609eb2aa1
rdk-accessories is a skill published in the GitHub repository D-Robotics/moss (142 stars, last pushed 11d ago), licensed MIT. It adds 332 tokens to every session and 3,515 once invoked, about $0.0017 per session on Opus 5. A static security scan graded it B with 1 finding (asks for root). No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.
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