Physicalai/genesis - #5
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Clarify the learning flow and validate scene and motion assumptions so PhySim01-04 remain reproducible on Genesis 1.3. Co-authored-by: Cursor <cursoragent@cursor.com>
Record the MuJoCo Menagerie origin and include the Apache-2.0 terms required for redistributing the Panda assets. Co-authored-by: Cursor <cursoragent@cursor.com>
Extend the course with ROCm vision and tactile interaction plus a guarded language-agent workflow, reusable live HUD controls, and an optional local LLM runtime. Co-authored-by: Cursor <cursoragent@cursor.com>
Preserve the language-guided Genesis agent demonstration as a reusable README media asset. Co-authored-by: Cursor <cursoragent@cursor.com>
Update the bilingual course overview to reflect PhySim05/06 and feature the language-guided agent demonstration. Co-authored-by: Cursor <cursoragent@cursor.com>
Credit the team for Physical AI teaching material and direct readers to notebook-level source and repository attribution. Co-authored-by: Cursor <cursoragent@cursor.com>
Use GS01-GS06 across notebook filenames, course references, demo assets, and Docker packaging to make the Genesis Simulation identity explicit. Co-authored-by: Cursor <cursoragent@cursor.com>
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Pull request overview
This PR merges the Genesis Simulation lab sequence updates (GS05/GS06) into develop by expanding the Genesis Simulation curriculum, adding reusable HUD/widget helpers, and updating the container build to include a pinned llama-server binary plus the new notebook set.
Changes:
- Updates the root READMEs to reflect the extended Genesis Simulation progression (through ROCm perception + language-guided agent) and adds clearer attribution notes.
- Adds a full Genesis-Simulation course README plus new helper modules/scripts for recording/exporting a live HUD, GPU telemetry, and starting a local llama.cpp server.
- Extends the Genesis-Simulation Docker image build to compile and ship a pinned
llama-server, and installs additional runtime dependencies for notebooks/widgets/HUD.
Reviewed changes
Copilot reviewed 18 out of 20 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| README.zh-TW.md | Updates Genesis Simulation description and adds AMD AECG / attribution note (zh-TW). |
| README.md | Updates Genesis Simulation description and adds AMD AECG / attribution note (EN). |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/xml/franka_emika_panda/README.md | Replaces embedded MIT license text with upstream attribution + points to local Apache-2.0 license. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/xml/franka_emika_panda/LICENSE | Adds Apache-2.0 license text for the Franka Panda MJCF/assets directory. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/README.md | Adds end-to-end instructions for building/running labs, live HUD usage, and optional LLM endpoint workflow. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/helpers/start_llama_server.sh | Adds a helper script to start and sanity-check a local llama-server inside the container. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/helpers/physisim_widget.py | Adds ipywidgets-based live controllers for GS05/GS06 HUD interaction and export. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/helpers/physisim_hud.py | Adds HUD composition, ffmpeg writer, and AMD GPU telemetry monitor utilities. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/helpers/init.py | Exposes helper module public API via __all__. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/GS05_perception_with_rocm.ipynb | Adds a full ROCm perception + tactile reduction lab, recordings, and a live simulation widget. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/GS04_parallel_simulation.ipynb | Updates GS04 narrative/goals and adds minor safety/consistency improvements (e.g., scene reinit guard). |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/GS03_motion_planning.ipynb | Updates GS03 narrative/goals and adds motion-plan validity checking before execution. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/GS02_control_your_robot.ipynb | Adds a new GS02 lab notebook focused on PD control and DOF-level APIs with recorded output. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/GS01_hello_genesis.ipynb | Updates GS01 narrative/goals and adds consistency improvements (e.g., scene reinit guard, conclusions). |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/Dockerfile | Adds a llama.cpp builder stage, Vulkan runtime libs, new pip deps, and copies GS* notebooks + helpers. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/.gitignore | Ignores generated artifacts/videos/models and Python caches for the Genesis-Simulation workspace. |
| projects/Physical-AI/Physical-Simulation/Genesis-Simulation/.dockerignore | Excludes large/generated directories and GGUFs from Docker build context. |
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Status messages carry planner output, local LLM replies and exception strings, so interpolating them raw into the ipywidgets HTML pane could break rendering or inject markup into notebook output. Co-authored-by: Cursor <cursoragent@cursor.com>
The writer drained ffmpeg stderr only on failure or shutdown, so a noisy encoder could fill the pipe buffer, stop consuming frames and deadlock both the recording and the surrounding close(). Capture stderr in a temp file instead, which has no buffer ceiling and still preserves the diagnostics reported on failure. Co-authored-by: Cursor <cursoragent@cursor.com>
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Pull request overview
Copilot reviewed 18 out of 20 changed files in this pull request and generated no new comments.
Suppressed comments (2)
Previously missed (1) — in code that hasn't changed since the last review.
projects/Physical-AI/Physical-Simulation/Genesis-Simulation/README.md:224
- The nbconvert Docker command doesn't set the container working directory. Because the notebooks write relative paths like
Videos/and importhelpers/as a top-level package, running nbconvert from a different CWD can cause outputs to be written outside the bind mount and can break imports. Set-w /opt/workspace/PhySim(or equivalently--ExecutePreprocessor.cwd) in the command.
This issue also appears on line 230 of the same file.
docker run --rm \
--device=/dev/kfd \
--device=/dev/dri \
--group-add video \
--ipc=host \
--security-opt seccomp=unconfined \
-v "$PWD:/opt/workspace/PhySim" \
--entrypoint jupyter \
auplc-physisim:physicalai-genesis \
projects/Physical-AI/Physical-Simulation/Genesis-Simulation/README.md:238
- Same issue as the GS05 nbconvert example: without setting the working directory, relative paths (e.g.
Videos/,Artifacts/,helpers/) may resolve outside the bind mount during non-interactive execution. Add-w /opt/workspace/PhySim(or--ExecutePreprocessor.cwd) so the run is reproducible and artifacts persist on the host.
docker run --rm \
--device=/dev/kfd \
--device=/dev/dri \
--group-add video \
--ipc=host \
--security-opt seccomp=unconfined \
-v "$PWD:/opt/workspace/PhySim" \
--entrypoint jupyter \
auplc-physisim:physicalai-genesis \
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Merge GS05 and GS06 to the develop branch.