Explore AI Agent Skills & Claude Prompts

Recollect bounded-joint open-loop current LUT data on the robot machine using one bag per amplitude, asymmetric start poses, dense low-speed knee filling, and immediate per-point analysis. Use when recollecting or repairing `J_TELE` / `J_EE_PITCH` LUT points or when `mole_sysid_tune_lut` rejects edge amplitudes.

schedule Updated 3 months ago

newton-nav-stack-test

Validate the Newton + ROS Nav2 driving stack in a clean tmux session after bringup. Use when the user wants a repeatable navigation check in Newton sim, including health checks for the bridge/model/drive path and the lateral-shift golden test.

rl-newton

Entry point for Moleworks Newton RL work. Use when working on Newton training, shared-turn experiments, local smoke tests, cluster launches, benchmark interpretation, or experiment ledgers. Routes to narrower Newton skills for cluster ops, benchmarking, ROS parity, and long-horizon orchestration.

rl-newton-cluster-ops

Submit, monitor, sync, and ledger Moleworks Newton RL runs on Euler or Brev. Use when preparing a smoke test, launching shared-turn jobs, checking `squeue`/`sacct`/Slurm logs, syncing one run, or updating `docs/experiments`.

newton-sim-ros-startup

Start or restart the Moleworks ROS2 stack using the Newton simulator in the default moleworks_ros runtime shell, assuming the current shell is already inside the target container unless the user says otherwise. Use when you need a clean tmux layout for Newton bridge, robot/TF/RViz, perception (elevation + excavation mapping), optional Foxglove bridge, an isolated bridge-only validation stack on a specific ROS domain, or Terra failure capture and resume from saved checkpoints in Newton simulation, all with use_sim_time:=true.

rl-newton-benchmark

Benchmark and analyze Moleworks Newton RL checkpoints. Use when benchmarking analytic cabin or shared-turn checkpoints, collecting or replaying terrain banks, verifying a saved bank, comparing fresh vs carved terrain, or summarizing benchmark JSON outputs.

newton-ros-parity

Validate or replay Moleworks Newton observations through `moleworks_ros`. Use when bringing up the ROS parity stack, checking `/clock` and TF, debugging controller-facing terrain topics, replaying Dig3D-style comparisons, or cleaning up stale ROS/Newton processes after parity work.

schedule Updated 2 months ago

terra-foundation-execution

Execute packaged Moleworks Terra flat-foundation plans in Newton simulation, especially flat_foundation_depth_0p5 end-to-end with Nav2 navigation, async checkpoints, workspace-planner target recomputation, post-dump stall measurement, checkpoint resume, and failure-state capture. Use after newton-sim-ros-startup has established the ROS/Newton runtime.

dig-controllers

Start Moleworks dig controllers (dig_3d, dig_newton, dig_ee, etc.) in a split tmux window: one pane runs the controller launch, the other pane runs lifecycle helpers and shows the `ros2 action send_goal` command. Use when the base stack is already running and you want to add or restart only a dig controller.

dig-bag-recording

Start fast split rosbag recording for Mole dig/newton runs using the canonical `rosbag_record.launch.py` workflow. Use when you want separate bags for sensors, state, commands, lidar, camera (compressed image topics), elevation_map, and Dig3D special observations during digging experiments.

schedule Updated 2 months ago

workspace-planner-debug

Debug Moleworks workspace planner Newton/ROS runs with per-action planner GridMaps, predicted-vs-executed scoop analysis, Terra checkpoint replay of failed or high-discrepancy scoops, and live-run inspection artifacts.

student-onboarding

Onboard a new RSL student project across the student spreadsheet, shared Google Drive project folders, and follow-up access/admin requests. Use when Codex must add a new student entry, create the project folder from the template, place the grading sheet correctly, or follow the ETH/RSL student-start checklist.