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New package mujoco_emdb_sim bridging emdb_simulator (SantaCRC's RoboCasa/
robosuite KitchenLift sim) to the e-MDB architecture:
- sim_bridge: hosts executed_action/world_reset, forwards to scene_loader's
/step_action + /reset_episode
- EmdbSimulatorPerception: flattens ObjectStateArray + scalar mdb sensors
- perception_relay: TEMPORARY keep-alive for scene_loader's one-shot rl-mode
perceptions (remove once the sim streams them)
Adds lift_experiment.yaml + lift_launch.py (PolicyLearned/SAC on the lift task)
and the ur5_grasp experiment config/launch.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- EmdbSimulatorPerception: pass base Perception args by keyword (latest inserted
a node_type param, which broke the positional super().__init__ call).
- sim_bridge: ignore control-topic "reset_world" when the world_reset service is
hosted, so two callbacks don't drive the shared reset ServiceClient concurrently
("generator already executing").
Verified end-to-end on latest: single clean architecture, perceptions flow,
world model learns, actions are selected.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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New
mujoco_emdb_simpackage bridging SantaCRC's RoboCasa/robosuite KitchenLiftsim to the e-MDB architecture:
/step_action + /reset_episode
perceptions (remove once scene_loader streams them)
Also adds lift_experiment.yaml + lift_launch.py (PolicyLearned/SAC on the lift
task) and the ur5_grasp experiment config/launch.
Verified running end-to-end on
latest: single clean architecture, perceptionsflow, world model learns, actions are selected.