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Commit History
24 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
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