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 terrense/ros2-multimodal-robot-collab --skill perceptiongit clone --depth 1 https://github.com/terrense/ros2-multimodal-robot-collabWrote 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/terrense/ros2-multimodal-robot-collab/perception)<a href="https://agentmods.dev/skills/terrense/ros2-multimodal-robot-collab/perception"><img src="https://agentmods.dev/badge/skills/terrense/ros2-multimodal-robot-collab/perception/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/terrense/ros2-multimodal-robot-collab/perception"><img src="https://agentmods.dev/badge/skills/terrense/ros2-multimodal-robot-collab/perception.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 | $0.00032 | $0.00251 |
| Opus 5 | $0.00016 | $0.00125 |
| Sonnet 5 | $0.00006 | $0.00050 |
| Haiku 4.5 | $0.00003 | $0.00025 |
Grade A, and why
perception 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
Perception Skill
Use perception topics and actions to ground plans in current sensor data.
APIs:
- Tool detections:
/perception/tool_detections,robot_collab_interfaces/msg/ToolDetection - Identity verification:
/skills/verify_operator,robot_collab_interfaces/action/VerifyOperator - Gesture command stream:
/hri/gesture_command,robot_collab_interfaces/msg/GestureCommand - YOLOv8 detector adapter:
yolov8_tool_detector_node - OpenPose gesture adapter:
openpose_gesture_node
Gesture mapping:
fist->arm_pausepalm->system_stopthumb_up->arm_start
Planner rules:
- Require confidence above the configured threshold before sending a pick request.
- If multiple tool candidates are present, choose the one closest to the requested station or ask HRI for clarification.
- If identity verification fails, stop the mission and announce the rejection.
- Treat
system_stopas a safety-critical command.
What ships with it
2 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.
- 9d ago First seen · 30 lines · 32 tokens per session scan A 99c38fd05c24
perception is a skill published in the GitHub repository terrense/ros2-multimodal-robot-collab (111 stars, last pushed 15d ago), licensed MIT. It adds 32 tokens to every session and 251 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.
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