Report whether the sim daemon is up, its robot, driven joints, poses and parameters.

Start the daemon container and wait until it answers. Idempotent.

robot: a robot config JSON, path relative to the repo root (e.g. examples/robots/franka.json). usd: a USD path instead of / overriding the config's (every joint driven if no config). gui=True is needed for sim_screenshot; the host must have run xhost +local:docker once. ground=False spawns without a floor (use for range tests). extra_args go to scripts/simd.py verbatim (e.g. ["--pos-iters", "64"]). The first start downloads Nucleus assets and builds shader caches: minutes.

Stop the sim daemon; its container removes itself.

Restart the daemon to change a spawn property: robot, USD, solver iterations, self-collision.

One Kit start rather than one per experiment; gains stay live via sim_set_params. Omitted robot/usd fall back to the defaults, not to what was loaded before.

List a USD's articulation DOFs, joints excluded from the articulation (loop closures), and roots.

Reads the file, not the live scene, so it shows edits saved from the Isaac GUI. Defaults to the loaded USD.

Joint positions (rad/m) and velocities, plus driven joints' normalized positions and limits.

Per-joint travel and driven-joint mean tracking error since the last reset.

Travel on a passive joint proves a linkage transmits: with zero stiffness it moves only if its constraint moves it.

Command the driven joints, normalized 0..1 (lower..upper limit).

Pass unit as a full vector in driven order (see sim_status), or joints to set individual joints by name. Targets persist; advance with sim_step.

Named poses from the robot config, as {pose: {joint_pattern: 0..1}}.

Command a named pose. amount blends toward it: 1 = as authored, 0.5 = halfway.

Halfway from the lower limits by default, or from the current targets with from_current=True. Follow with sim_step, then sim_screenshot to verify.

Advance the simulation n physics steps (dt from sim_status, default 1/120 s).

Run the sim continuously in real time (True) or pause it (False).

Sweep every driven joint through its range for n steps; return travel stats.

Drive every driven joint from its lower limit toward target, report the fraction reached.

A joint below 0.9 is blocked: self-collision, a binding linkage, or too little effort for the load. reset=True first puts every joint at its lower limit and verifies it. Start the daemon with ground=False if the robot can reach the floor, or the test measures the floor.

Change the driven joints' PD gains and effort limit on the live articulation.

Change software-coupling ratios live, keyed by follower joint. 0 releases a follower.

Couplings are declared in the robot config; a follower is driven to ratio x its leader's target.

Point the viewport camera, e.g. eye=[1.2, 1.2, 1.0] target=[0, 0, 0.3].

Capture the viewport as an image. Requires the daemon started with gui=True.

Compare several values of one live parameter inside the single session.

param: stiffness, damping, effort, or "coupling:". For each value it applies the parameter and runs test ("wave" or "range") for steps. The original value is restored afterwards, even on error. A diverging solver is recorded as a result, not raised.

Launch a headless Isaac Lab training run in its own container; returns at once.

task is a registered gym id (e.g. Isaac-Cartpole-v0). run_name defaults to '_'; keep it to find the run later. extra_args go to the training script verbatim (e.g. Hydra overrides). device pins one GPU index. Independent of the daemon and of this MCP session.

List training runs: live or recent containers, and log directories holding checkpoints.

Container state, checkpoints, and latest TensorBoard scalar values for one run.

Tail a running training container's stdout/stderr.

Stop a training run's container.

List a run's saved checkpoints with step and size.

TensorBoard scalars for a run: no tag lists tag names; a tag returns its series, downsampled.