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25 days ago
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Fix scene generation for robots with an unnamed free joint
Chandra KiranUnverified signaturerobot_facts() joined joint names with ', '.join(), but the Go2 and H1 models have an unnamed free joint, so mj_id2name returned None and every Go2/H1 scene request failed with a TypeError before reaching the model. Unnamed joints are now listed as '(unnamed joint N)' and other unnamed elements are skipped.7f9f21f
27 days ago
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Add /code/check, more robots, and a real hold controller
Chandra KiranUnverified signatureROS 2 check: POST /code/check (or check: true on /code/generate) runs a generated package through the sandbox. The report shows build/launch/test results, errors, missing dependencies, the nodes and topics that came up, the logs, and the recorded bag in Foxglove. The sandbox now uses CycloneDDS with unicast discovery on loopback (containers have no loopback multicast), and our own shutdown no longer counts as a crash. The interface catalogue adds nav2_msgs, control_msgs and moveit_msgs. Robots: Unitree H1 and Go2 and the Franka Panda join the G1. 'hold' keeps the starting pose with a PD law on torque motors (H1, Go2) and targets on position servos; 'passive' now really switches actuation off. The H1 gets a balanced standing pose (it tips over from Menagerie's home pose); all four hold for 20 s.225dc91
28 days ago
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Keep free objects where the scene puts them when resetting to the robot keyframe
Chandra KiranUnverified signatureMuJoCo pads a robot keyframe with zeros for joints the scene adds, so every free body (boxes, balls) started at the world origin inside the robot and knocked the G1 over. The keyframe is now applied to the robot's own joints only, in both the validator and the worker.cccaf8b -
Add Stage 1 MuJoCo scene generation API
Chandra KiranUnverified signature- RAG index (Chroma) built from MuJoCo docs, the MJCF schema and the Menagerie Unitree G1 model - POST /simulate/generate: grounded prompt (robot facts read from the model, Menagerie example, schema rows, retrieved docs), GLM-4.6, sandboxed MuJoCo load + 2 s step test, repair loop on failure - Hashed API-key allowlist with add/list/revoke CLI - SQLite log of every generation, tester feedback endpoint, review CLI - Five MuJoCo test scenarios with structural checks and a runnerf850954