Lab Robotics

Experimental simulation, visualization, and embodied-robotics work for the Lab toolchain.

Boundary

Lab owns biological and workflow semantics, planning, reviewed run documents, dry runs, and execution against real laboratory instruments. This repository consumes those artifacts and owns experimental concerns downstream of them:

• virtual-time workflow simulation and simulation traces;
• facility descriptions and spatial layouts;
• semantic scenes, glTF and USD export, and trace playback;
• Blender rendering;
• robot-task projection and embodiment bindings;
• Isaac Lab physics environments;
• training and evaluation infrastructure;
• finite remote compute and the initial C3 adapter.

The dependency direction is one-way: robotics may consume versioned Lab artifacts, but Lab does not depend on this repository.

Repository layout

• crates/lab-compute/ contains provider-neutral finite-job contracts and the C3 adapter.
• crates/lab-scene/ contains semantic scene graphs and glTF/USD projections.
• integrations/isaac-lab/ contains the checked robot-task adapter, proxy binding, PhysX smoke environment, and C3 capability probe.
• viewer/ contains the browser trace player.
• render/ contains the headless Blender player.
• docs/ preserves the simulation, facility, rendering, robot-learning, and compute decisions.
• migration/lab/ preserves exact source snapshots of code that was still coupled to Lab's CLI, run-format, runtime, package, and compiler crates at extraction time. It is reference material, not a second buildable copy of Lab.

Current status

The portable Rust, Python contract, and browser layers can be checked without a GPU. The Isaac/PhysX smoke gate still requires a supported Linux/CUDA Isaac Lab environment. C3 configuration does not authorize a paid submission, and no training command is considered supported yet.

The two Rust crates currently pin the exact upstream Lab revision from which they were copied. That is a temporary extraction bridge. The intended stable boundary is versioned run-document artifacts rather than a source dependency on the Lab repository.

Local checks

cargo fmt --all -- --check
cargo clippy --workspace --all-targets -- -D warnings
cargo test --workspace --all-targets

cd integrations/isaac-lab
uv run --locked ruff format --check src tests c3/probe.py
uv run --locked ruff check src tests c3/probe.py
uv run --locked mypy
uv run --locked pytest

cd ../../viewer
npm ci
npm run build