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Add Isaac Sim RTX renders of finished runs
Chandra KiranUnverified signaturePOST /simulate/run/{id}/isaac replays a run in Isaac Sim: worker/usd_scene.py builds a USD stage from the MuJoCo model with every body's pose time-sampled from the run (and a camera that tracks the robot like the MuJoCo video), and Isaac Sim only renders it frame by frame with RTX - no second physics engine, so both videos show the same motion. Deployed as its own Modal app on an L4 (worker/modal_isaac.py) so its large image never slows the main deploy; limited to ISAAC_DAILY_LIMIT renders a day (default 10). The USD stage is tested against MuJoCo's geom positions frame by frame; the Isaac Sim step itself needs the NGC image and a GPU and has not been run yet.2fc178d
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Add GPU simulation runs: RunPod worker, R2 storage, report page
Chandra KiranUnverified signature- POST /simulate/run re-validates the scene, logs the call (tester, time) and submits a RunPod serverless job; GET /simulate/run/{id} for status; GET /simulate/report/{id} (signed link) shows the run summary, video and an embedded Foxglove replay of the MCAP - worker/: MuJoCo simulation with the robot holding its keyframe, Foxglove MCAP (/scene, /tf, /state), H.264 video via EGL with CPU fallback, upload to Cloudflare R2; Dockerfile for RunPod - Usage visibility without caps: runs table, burst warning in logs, review runs/usage commands - R2 setup CLI (CORS for Foxglove, credential check); README setup for R2, the RunPod endpoint and the spend alert5dbd0bf