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 NVlabs/ASPIRE --skill yam-simulation-transfergit clone --depth 1 https://github.com/NVlabs/ASPIREWrote 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/nvlabs/aspire/yam-simulation-transfer)<a href="https://agentmods.dev/skills/nvlabs/aspire/yam-simulation-transfer"><img src="https://agentmods.dev/badge/skills/nvlabs/aspire/yam-simulation-transfer/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/nvlabs/aspire/yam-simulation-transfer"><img src="https://agentmods.dev/badge/skills/nvlabs/aspire/yam-simulation-transfer.svg" alt="Reviewed on agentmods" width="80" height="20"></a>- NVIDIA SkillSpector pass
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 | $0.00035 | $0.00226 |
| Opus 5 | $0.00017 | $0.00113 |
| Sonnet 5 | $0.00007 | $0.00045 |
| Haiku 4.5 | $0.00003 | $0.00023 |
Grade A, and why
yam-simulation-transfer scanned grade A with 0 findings 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 9d 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.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
What it actually says
YAM Simulation Transfer
Borrow strategy, not simulator coordinates/API/constants.
The physical-robot implementation lives in aspire/real; the source
simulation workspace is its sibling aspire/sim (../sim when working from
the real workspace). Inspect simulation code and agent guidance there, then
convert the strategy into YAM-native behavior here.
References:
references/plate-libero-transfer.mdreferences/bowl-libero-transfer.mdreferences/can-libero-transfer.mdreferences/libero-cup-mug-skills.mdreferences/robosuite-two-arm-handover.mdreferences/robosuite_two_arm_handover.pyreferences/drawer-libero-transfer.md
Convert ideas into YAM-native detections, frames, gripper geometry, planner previews, and artifact checks before physical retries.
What ships with it
7 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.
- references/bowl-libero-transfer.md 6.0 KB
- references/can-libero-transfer.md 12 KB
- references/drawer-libero-transfer.md 14 KB
- references/libero-cup-mug-skills.md 12 KB
- references/plate-libero-transfer.md 9.0 KB
- references/robosuite_two_arm_handover.py 5.9 KB runs code
- references/robosuite-two-arm-handover.md 6.4 KB
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.
- 9d ago First seen · 27 lines · 35 tokens per session scan A 08ef09e280bc
yam-simulation-transfer is a skill published in the GitHub repository NVlabs/ASPIRE (139 stars, last pushed 8d ago), licensed Apache-2.0. It adds 35 tokens to every session and 226 once invoked, about $0.0002 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.
Other skills, from other repositories
neuroskill-bci
Use live BCI cognitive and mood state from NeuroSkill.
ruview-advanced-sensing
Advanced RuView capabilities — RuvSense multistatic sensing (attention-weighted fusion, geometric diversity, persistent field model), cross-viewpoint fusion across multiple nodes, RF tomography (ISTA L1 solver, voxel grids), longitudinal biomechanics drift, pre-movement intention signals, adversarial signal detection…
ruview-applications
Run RuView sensing applications — presence/occupancy, breathing & heart rate, activity & fall detection, 17-keypoint pose estimation (WiFlow), sleep monitoring & apnea screening, environment mapping, Mass Casualty Assessment (MAT), and the 3D point-cloud fusion demo. Use when someone wants to actually do something…
lab-hardware-cad
Design custom laboratory hardware as parametric build123d models and export fabrication-ready STEP, STL, and DXF files - microfluidic chips and molds, optomechanical mounts and breadboard adapters, cuvette and microplate holders, tube racks, animal-behavior rigs, and 3D-printed instrument fixtures. Use when a research…
opentrons-integration
Author, review, migrate, simulate, and troubleshoot official Opentrons Python Protocol API v2 protocols for Flex and OT-2 robots. Use for robot-specific liquid handling, deck and labware setup, pipettes, modules, runtime parameters, liquid classes, and Opentrons App analysis. Use pylabrobot instead when one workflow…
pylabrobot
Develop and review PyLabRobot lab-automation resources, liquid-handling plans, offline simulations, and supported-device integrations. Use for PyLabRobot protocols or API questions; keep physical execution behind an explicit operator safety gate.