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Commit History
26 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
27 days ago
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Harden simulation runs: official Foxglove embed, WebM video, CI image build
Chandra KiranUnverified signature- Report page uses Foxglove's embedding library (@foxglove/embed, vendored) with the MCAP as a remote-file source; R2 CORS now allows embed.foxglove.dev; FOXGLOVE_ORG setting - Worker writes a VP9 WebM next to the H.264 MP4 so every browser plays the video; a rendering failure mid-run no longer loses the run - Pin onnxruntime below 1.29, whose Linux build sends Microsoft telemetry, and disable its telemetry events - CI: lint, tests, build the RunPod worker image and run a real job in it04ad412 -
Add ROS 2 code generation via OpenCode, README
Chandra KiranUnverified signature- POST /code/generate: exact lookup of named message types plus their nested types, retrieval of distro-specific interfaces and tutorials, OpenCode run headless in a throwaway workspace (GLM-4.6 provider, no shell or web access), one repair round in the same session - Static package validation against the indexed Humble/Jazzy interface definitions: layout, Python/launch syntax, message types that exist - Direct GLM backend as an alternative to OpenCode - Four ROS 2 test scenarios; telemetry and model-list fetches disabled - README: setup, adding tester keys, tester instructions, review workflowbd0a5c7 -
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