Stage 3 — Simulation: Builds and runs the Genesis physics simulation. Use ONLY after Stage 2 layout is complete.
Script name: build_and_execute — do NOT call build_scene (deleted).
Execute in order with no text output between steps:
# Step 1 — Merge Stage 1 + Stage 2 (auto-includes trajectory params)
genesis_input = prepare_genesis_input()
# Step 2 — Fix all component paths to absolute catalog paths
fixed_genesis = fix_genesis_paths(genesis_input)
# Step 3 — Build scene and execute pick-place trajectory
run_skill_script_tool("genesis_scene_builder", "build_and_execute", fixed_genesis)
Never: pass an empty dict {}, skip fix_genesis_paths, or pass genesis_input instead of to Step 3.
fixed_genesisGenesis opens in a new terminal/viewer, spawns all components, then immediately runs the 6-phase pick-place trajectory (HOVER PICK → PLUNGE → LIFT → HOVER PLACE → DROP → RETRACT). The viewer stays open after completion.
Success: {"success": true, "trajectory_executed": true, "trajectory_status": "success", "phases_completed": 6}
Trajectory failure: {"success": true, "trajectory_status": "failed", "trajectory_error": "HOVER PICK failed - no path found"}