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27 days ago
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Export runs as LeRobot datasets
Chandra KiranUnverified signaturePOST /datasets/export turns finished runs of one robot into a LeRobot dataset: observation.state and .velocity (the robot's joints), action (the commanded controls), observation.images.main (the video, 640x360) and the scenario text as the task. With HF_TOKEN in the Modal secret it is pushed to the Hub as a private dataset; otherwise the zip is stored with the job. Verified end to end with lerobot 0.4.4 (write, then load back); CI repeats that with a Go2. Trajectories now also carry every body's world pose, for replay renders.b357d7d -
Add a first-pass video review with NVIDIA Cosmos Reason
Chandra KiranUnverified signatureEvery finished run with a video gets a follow-up job (AUTO_REVIEW, on by default; or POST /simulate/run/{id}/review): Cosmos Reason on a Modal L4 watches the video at 2 fps next to the scenario text and the simulator's facts, and answers whether the scene matches, whether the physics look plausible and whether the robot fell, with its reasoning. The verdict shows on the run's report. Weights live in a Modal volume filled once by download_cosmos. Runs now also save trajectory.npz (robot joint positions, velocities and controls at 30 Hz) for dataset export.6772038 -
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 -
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 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