jolly-cli 0.1.0__tar.gz → 0.3.0__tar.gz

{jolly_cli-0.1.0 → jolly_cli-0.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jolly-cli
-Version: 0.1.0
+Version: 0.3.0
 Summary: Local, CLI-native robot-arm physics simulation for humans and LLM agents
 Project-URL: Homepage, https://github.com/TeamAudiyo/Jolly
 Project-URL: Repository, https://github.com/TeamAudiyo/Jolly
@@ -42,7 +42,7 @@ It uses PyBullet in deterministic direct mode and saves state between commands.
 Jolly includes two offline robot profiles:
 
 - `jolly6`: an original six-axis arm with a parallel gripper.
-- `so101`: a lightweight five-axis SO-101 simulation profile with a gripper.
+- `so101`: the official five-axis SO-101 URDF and CAD meshes with a gripper.
 
 The package also accepts scenes, challenges, an engine benchmark, a native
 PyBullet viewer, and an optional local web viewer. No cloud service, MCP server,
@@ -52,9 +52,10 @@ API key, or network connection is required at runtime.
 
 ### Local web simulator
 
-![Jolly local web simulator demo](docs/assets/jolly-web-demo.gif)
+![Jolly web viewer rendering the official SO-101 CAD model](docs/assets/jolly-so101-viewer.png)
 
-[Watch the WebM recording](docs/assets/jolly-web-demo.webm)
+The viewport above is a real PyBullet render of the official SO-101 CAD meshes.
+It is not a diagram or a hand-drawn robot substitute.
 
 ### Terminal-native control
 
@@ -92,9 +93,9 @@ npx skills add ./skills/jolly
 
 ```bash
 jolly models --json
-jolly reset --model jolly6 --scene blocks --json
+jolly reset --model so101 --scene blocks --json
 jolly state --json
-jolly move --joints "0,-25,70,-45,0,0" --gripper 0.0 --json
+jolly move --joints "0,-20,40,-20,0" --gripper 0.0 --json
 jolly reach --x 0.30 --y 0.10 --z 0.18 --gripper 0.0 --json
 jolly render
 jolly challenge list --json
@@ -110,10 +111,15 @@ jolly serve --host 127.0.0.1 --port 8765
 Open `http://127.0.0.1:8765`. The JSON API documentation is at
 `http://127.0.0.1:8765/api/docs`.
 
+The clean web viewer displays the physical PyBullet world. PyBullet's local
+TinyRenderer draws the official SO-101 STL meshes, scene objects, shadows, and
+floor. Drag the viewport to orbit. Scroll to zoom. The viewer has no CDN,
+external 3D service, or proprietary rendering dependency.
+
 Open the native PyBullet window on a machine with a display:
 
 ```bash
-jolly viewer --model jolly6 --scene blocks
+jolly viewer --model so101 --scene blocks
 ```
 
 ## Command contract
@@ -133,8 +139,8 @@ Important commands:
 | `jolly render` | Show a Rich status table and terminal stick figure. |
 | `jolly reset` | Select a model and scene, then home the robot. |
 | `jolly scene list/load` | Discover and load deterministic scenes. |
-| `jolly challenge list/start/status` | Run agent manipulation challenges. |
-| `jolly benchmark` | Check robot loading, FK, and scene construction. |
+| `jolly challenge list/start/status` | Run seeded randomized manipulation challenges. |
+| `jolly benchmark [--seed N] [--cases N]` | Run randomized engine checks with reproducible inputs. |
 
 Jolly rejects joint-limit violations and unsafe workspace targets. By default,
 Jolly rolls back a motion that creates a collision. Use `--allow-collision`
@@ -154,9 +160,16 @@ jolly-cli/
 │   ├── cli.py
 │   ├── benchmark.py
 │   ├── challenges.py
+│   ├── driver.py
+│   ├── engine.py
 │   ├── assets/
 │   │   ├── jolly6.urdf
-│   │   └── so101.urdf
+│   │   └── robots/so101/
+│   │       ├── so101_new_calib.urdf
+│   │       ├── assets/*.stl
+│   │       ├── LICENSE-APACHE
+│   │       ├── CITATION.cff
+│   │       └── SOURCE.md
 │   ├── core/
 │   │   ├── physics.py
 │   │   ├── models.py
@@ -171,15 +184,37 @@ jolly-cli/
 
 ## Physics scope
 
-PyBullet performs rigid-body simulation, FK, IK, contact generation, and scene
-settling. Jolly uses deterministic state restoration across short CLI processes.
+`JollyEngine` owns state, safety, motion rollback, grasping, rendering, and the
+public simulator contract. `JollyDriver` generates seeded challenge and
+benchmark cases. The project does not depend on Inspect, Inspect AI, or an
+external robotics benchmark driver.
+
+PyBullet is the low-level open-source physics backend. It performs rigid-body
+simulation, FK, IK, contact generation, and scene settling. Jolly uses
+deterministic state restoration across short CLI processes.
 The grasp helper attaches a nearby graspable object while the gripper is closed.
 This helper makes terminal pick-and-place repeatable. It is not a soft-contact or
 motor-current model.
 
-The bundled SO-101 profile uses original primitive collision geometry. Its
-joint layout and limits derive from Apache-2.0 upstream robot metadata. It does
-not include the upstream CAD meshes and does not claim visual hardware fidelity.
+## Randomized evaluation
+
+Every challenge start generates a new target, object layout, or obstacle layout.
+The result includes the seed and full instance so results stay auditable. Omit
+`--seed` for a fresh unpredictable case. Supply a seed to reproduce a failure:
+
+```bash
+jolly challenge start sort-red --seed 42017 --json
+jolly benchmark --seed 42017 --cases 5 --json
+```
+
+The benchmark generates new joint configurations for every robot case and new
+object layouts for every scene case. This prevents a policy from passing only by
+memorizing the original fixed coordinates.
+
+The bundled SO-101 model is the official Apache-2.0 new-calibration URDF from
+The Robot Studio. Jolly includes the 13 referenced STL meshes from pinned commit
+`5f6d2b876a53a4872e405b991dd925556c9e38a4`. Jolly keeps the upstream files
+unmodified and includes their license, citation, source record, and README.
 
 ## License
 

{jolly_cli-0.1.0 → jolly_cli-0.3.0}/README.md

@@ -6,7 +6,7 @@ It uses PyBullet in deterministic direct mode and saves state between commands.
 Jolly includes two offline robot profiles:
 
 - `jolly6`: an original six-axis arm with a parallel gripper.
-- `so101`: a lightweight five-axis SO-101 simulation profile with a gripper.
+- `so101`: the official five-axis SO-101 URDF and CAD meshes with a gripper.
 
 The package also accepts scenes, challenges, an engine benchmark, a native
 PyBullet viewer, and an optional local web viewer. No cloud service, MCP server,
@@ -16,9 +16,10 @@ API key, or network connection is required at runtime.
 
 ### Local web simulator
 
-![Jolly local web simulator demo](docs/assets/jolly-web-demo.gif)
+![Jolly web viewer rendering the official SO-101 CAD model](docs/assets/jolly-so101-viewer.png)
 
-[Watch the WebM recording](docs/assets/jolly-web-demo.webm)
+The viewport above is a real PyBullet render of the official SO-101 CAD meshes.
+It is not a diagram or a hand-drawn robot substitute.
 
 ### Terminal-native control
 
@@ -56,9 +57,9 @@ npx skills add ./skills/jolly
 
 ```bash
 jolly models --json
-jolly reset --model jolly6 --scene blocks --json
+jolly reset --model so101 --scene blocks --json
 jolly state --json
-jolly move --joints "0,-25,70,-45,0,0" --gripper 0.0 --json
+jolly move --joints "0,-20,40,-20,0" --gripper 0.0 --json
 jolly reach --x 0.30 --y 0.10 --z 0.18 --gripper 0.0 --json
 jolly render
 jolly challenge list --json
@@ -74,10 +75,15 @@ jolly serve --host 127.0.0.1 --port 8765
 Open `http://127.0.0.1:8765`. The JSON API documentation is at
 `http://127.0.0.1:8765/api/docs`.
 
+The clean web viewer displays the physical PyBullet world. PyBullet's local
+TinyRenderer draws the official SO-101 STL meshes, scene objects, shadows, and
+floor. Drag the viewport to orbit. Scroll to zoom. The viewer has no CDN,
+external 3D service, or proprietary rendering dependency.
+
 Open the native PyBullet window on a machine with a display:
 
 ```bash
-jolly viewer --model jolly6 --scene blocks
+jolly viewer --model so101 --scene blocks
 ```
 
 ## Command contract
@@ -97,8 +103,8 @@ Important commands:
 | `jolly render` | Show a Rich status table and terminal stick figure. |
 | `jolly reset` | Select a model and scene, then home the robot. |
 | `jolly scene list/load` | Discover and load deterministic scenes. |
-| `jolly challenge list/start/status` | Run agent manipulation challenges. |
-| `jolly benchmark` | Check robot loading, FK, and scene construction. |
+| `jolly challenge list/start/status` | Run seeded randomized manipulation challenges. |
+| `jolly benchmark [--seed N] [--cases N]` | Run randomized engine checks with reproducible inputs. |
 
 Jolly rejects joint-limit violations and unsafe workspace targets. By default,
 Jolly rolls back a motion that creates a collision. Use `--allow-collision`
@@ -118,9 +124,16 @@ jolly-cli/
 │   ├── cli.py
 │   ├── benchmark.py
 │   ├── challenges.py
+│   ├── driver.py
+│   ├── engine.py
 │   ├── assets/
 │   │   ├── jolly6.urdf
-│   │   └── so101.urdf
+│   │   └── robots/so101/
+│   │       ├── so101_new_calib.urdf
+│   │       ├── assets/*.stl
+│   │       ├── LICENSE-APACHE
+│   │       ├── CITATION.cff
+│   │       └── SOURCE.md
 │   ├── core/
 │   │   ├── physics.py
 │   │   ├── models.py
@@ -135,15 +148,37 @@ jolly-cli/
 
 ## Physics scope
 
-PyBullet performs rigid-body simulation, FK, IK, contact generation, and scene
-settling. Jolly uses deterministic state restoration across short CLI processes.
+`JollyEngine` owns state, safety, motion rollback, grasping, rendering, and the
+public simulator contract. `JollyDriver` generates seeded challenge and
+benchmark cases. The project does not depend on Inspect, Inspect AI, or an
+external robotics benchmark driver.
+
+PyBullet is the low-level open-source physics backend. It performs rigid-body
+simulation, FK, IK, contact generation, and scene settling. Jolly uses
+deterministic state restoration across short CLI processes.
 The grasp helper attaches a nearby graspable object while the gripper is closed.
 This helper makes terminal pick-and-place repeatable. It is not a soft-contact or
 motor-current model.
 
-The bundled SO-101 profile uses original primitive collision geometry. Its
-joint layout and limits derive from Apache-2.0 upstream robot metadata. It does
-not include the upstream CAD meshes and does not claim visual hardware fidelity.
+## Randomized evaluation
+
+Every challenge start generates a new target, object layout, or obstacle layout.
+The result includes the seed and full instance so results stay auditable. Omit
+`--seed` for a fresh unpredictable case. Supply a seed to reproduce a failure:
+
+```bash
+jolly challenge start sort-red --seed 42017 --json
+jolly benchmark --seed 42017 --cases 5 --json
+```
+
+The benchmark generates new joint configurations for every robot case and new
+object layouts for every scene case. This prevents a policy from passing only by
+memorizing the original fixed coordinates.
+
+The bundled SO-101 model is the official Apache-2.0 new-calibration URDF from
+The Robot Studio. Jolly includes the 13 referenced STL meshes from pinned commit
+`5f6d2b876a53a4872e405b991dd925556c9e38a4`. Jolly keeps the upstream files
+unmodified and includes their license, citation, source record, and README.
 
 ## License
 

{jolly_cli-0.1.0 → jolly_cli-0.3.0}/THIRD_PARTY_LICENSES.md

@@ -9,19 +9,19 @@ binaries.
 - License: zlib/libpng (`Zlib`)
 - License text: https://github.com/bulletphysics/bullet3/blob/master/LICENSE.txt
 
-## SO-ARM100 / SO-101 metadata
+## SO-ARM100 / SO-101 robot model
 
-The bundled `jolly/assets/so101.urdf` is a modified simulation profile. It uses
-original primitive geometry created for Jolly. Joint names, kinematic layout,
-selected dimensions, and limits derive from the SO-101 robot description.
+Jolly redistributes the official SO-101 new-calibration URDF and its referenced
+STL meshes without modification. The files are under
+`jolly/assets/robots/so101/`.
 
 - Source: https://github.com/TheRobotStudio/SO-ARM100
 - Pinned source commit: `5f6d2b876a53a4872e405b991dd925556c9e38a4`
 - Upstream file: `Simulation/SO101/so101_new_calib.urdf`
 - License: Apache License 2.0
-- Modifications: Replaced all CAD meshes with primitive geometry, simplified
-  origins, changed the gripper to a linear simulation joint, and added a fixed
-  tool frame for PyBullet IK.
+- Modifications: None to the vendored URDF or STL files. Jolly selects the
+  upstream `gripper_frame_link` as its inverse-kinematics end effector and maps
+  the normalized CLI gripper value onto the upstream revolute joint limits.
 
 The upstream work is titled "Standard Open SO-100 & SO-101 Arms." Its cited
 authors are Rob Knight, Pepijn Kooijmans, Remi Cadene, Simon Alibert, Michel

{jolly_cli-0.1.0 → jolly_cli-0.3.0}/docs/wiki/CLI-Reference.md

@@ -21,11 +21,15 @@ jolly render
 jolly scene list --json
 jolly scene load blocks --json
 jolly challenge list --json
-jolly challenge start sort-red --model jolly6 --json
+jolly challenge start sort-red --model jolly6 [--seed N] --json
 jolly challenge status --json
-jolly benchmark --json
+jolly benchmark [--seed N] [--cases 3] --json
 ```
 
+Challenge starts use a fresh random seed by default. The JSON response contains
+the seed and generated instance. Supply `--seed N` to replay the exact case.
+The benchmark randomizes every robot and scene check through `JollyDriver`.
+
 ## Viewers
 
 ```bash

jolly_cli-0.3.0/docs/wiki/Challenges-and-Benchmarks.md

@@ -0,0 +1,29 @@
+# Challenges and Benchmarks
+
+Jolly includes local scene templates:
+
+- `empty`: clear workspace for kinematics.
+- `blocks`: three blocks and two target pads.
+- `shelf`: floor-to-shelf manipulation.
+- `obstacles`: collision-aware reaching.
+
+Agent challenges include `reach-center`, `sort-red`, `shelf-load`, and
+`obstacle-reach`. `JollyDriver` generates a new target and scene layout for each
+start. Each challenge has a command budget and explicit success metrics.
+
+```bash
+jolly challenge start sort-red --model jolly6 --json
+# Run move and reach commands.
+jolly challenge status --json
+```
+
+The start result contains a generated seed and instance. Use `--seed` to replay
+the exact case.
+
+`jolly benchmark --json` checks engine health with randomized joint states and
+scene layouts. Use `--cases` to select cases per model and scene. Use `--seed`
+to replay the exact generated inputs.
+
+Jolly uses its own `JollyEngine` and `JollyDriver`. It does not use Inspect,
+Inspect AI, or an external robot benchmark harness. PyBullet remains the local
+open-source rigid-body physics backend.

{jolly_cli-0.1.0 → jolly_cli-0.3.0}/docs/wiki/Robot-Models-and-Licensing.md

@@ -7,12 +7,14 @@ URDF uses primitive geometry and ships under `MIT OR Apache-2.0`.
 
 ## SO-101 profile
 
-`so101` is a lightweight five-axis simulation profile with a gripper. It uses
-original primitive geometry. Joint names, selected dimensions, and kinematic
-limits derive from The Robot Studio's Apache-2.0 SO-101 metadata.
-
-The profile does not include upstream CAD meshes. It does not claim visual
-hardware fidelity or endorsement by The Robot Studio or Hugging Face.
+`so101` uses the official five-axis new-calibration URDF and its 13 referenced
+STL meshes. Jolly vendors the unmodified files from pinned commit
+`5f6d2b876a53a4872e405b991dd925556c9e38a4` of The Robot Studio's SO-ARM100
+repository.
+
+The upstream model is Apache-2.0. Jolly includes the upstream license,
+`CITATION.cff`, README, and a source record. Jolly does not claim endorsement by
+The Robot Studio or Hugging Face.
 
 ## Physics engine
 

{jolly_cli-0.1.0 → jolly_cli-0.3.0}/jolly/__init__.py

@@ -1,4 +1,4 @@
 """Jolly robot-arm simulator."""
 
 __all__ = ["__version__"]
-__version__ = "0.1.0"
+__version__ = "0.3.0"

jolly_cli-0.3.0/jolly/assets/robots/so101/CITATION.cff

@@ -0,0 +1,29 @@
+cff-version: 1.2.0
+date-released: 2024
+message: "If you use this hardware, please cite it as below."
+title: "Standard Open SO-100 & SO-101 Arms"
+url: "https://github.com/TheRobotStudio/SO-ARM100"
+address: "Online"
+authors:
+- family-names: "Knight"
+  given-names: "Rob"
+- family-names: "Kooijmans"
+  given-names: "Pepijn"
+- family-names: "Cadene"
+  given-names: "Remi"
+- family-names: "Alibert"
+  given-names: "Simon"
+- family-names: "Aractingi"
+  given-names: "Michel"
+- family-names: "Aubakirova"
+  given-names: "Dana"
+- family-names: "Zouitine"
+  given-names: "Adil"
+- family-names: "Martino"
+  given-names: "Russi"
+- family-names: "Palma"
+  given-names: "Steven"
+- family-names: "Pascal"
+  given-names: "Caroline"
+- family-names: Wolf
+  given-names: Thomas

jolly_cli-0.3.0/jolly/assets/robots/so101/LICENSE-APACHE

@@ -0,0 +1,201 @@
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+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

jolly_cli-0.3.0/jolly/assets/robots/so101/SOURCE.md

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+# Source
+
+These unmodified SO-101 simulation assets came from:
+
+- Repository: https://github.com/TheRobotStudio/SO-ARM100
+- Commit: `5f6d2b876a53a4872e405b991dd925556c9e38a4`
+- Upstream path: `Simulation/SO101/`
+- License: Apache-2.0
+
+The bundled files include the official new-calibration URDF and only the STL meshes referenced by that URDF.

jolly_cli-0.3.0/jolly/assets/robots/so101/UPSTREAM-README.md

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+# SO101 Robot - URDF and MuJoCo Description
+
+This repository contains the URDF and MuJoCo (MJCF) files for the SO101 robot.
+
+## Overview
+
+- The robot model files were generated using the [onshape-to-robot](https://github.com/Rhoban/onshape-to-robot) plugin from a CAD model designed in Onshape.
+- The generated URDFs were modified to allow meshes with relative paths instead of `package://...`.
+- Base collision meshes were removed due to problematic collision behavior during simulation and planning.
+
+## Calibration Methods
+
+The MuJoCo file `scene.xml` supports two differenly calibrated SO101 robot files:
+
+- **New Calibration (Default)**: Each joint's virtual zero is set to the **middle** of its joint range. Use -> `so101_new_calib.xml`. 
+- **Old Calibration**: Each joint's virtual zero is set to the configuration where the robot is **fully extended horizontally**. Use -> `so101_old_calib.xml`.
+
+To switch between calibration methods, modify the included robot file in `scene.xml`.
+
+## Leader Arm URDF
+
+`so101_leader_new_calib.urdf` is a URDF for the **SO-101 leader** (teleoperation) arm, sharing the "new calibration" zero convention above. It reuses the follower's base/shoulder/upper-arm/lower-arm/wrist links and meshes; only the gripper subtree differs: the fixed follower gripper body is replaced by `Wrist_Roll_SO101.stl` and `Handle_SO101.stl`, and the moving jaw by `Trigger_SO101.stl` (meshes converted from `STEP/SO101/Leader_Specific/`). The actuated joint keeps the name `gripper` for compatibility with the other five arm joints.
+
+```bash
+rerun Simulation/SO101/so101_leader_new_calib.urdf
+```
+
+**Calibration caveat:** the five arm joints carry the same calibration as `so101_new_calib.urdf`. The trigger joint's zero, travel limits (provisionally 0–45°) and the printed-part inertia estimates were derived from CAD geometry and a rough average printed-part density, not from a measured leader unit — there is no MJCF/XML counterpart yet.
+
+## Motor Parameters
+
+Motor properties for the STS3215 motors used in the robot are adapted from the [Open Duck Mini project](https://github.com/apirrone/Open_Duck_Mini).
+
+## Gripper Note
+
+In LeRobot, the gripper is represented as a **linear joint**, where:
+
+* `0` = fully closed
+* `100` = fully open
+
+This mapping is **not yet reflected** in the current URDF and MuJoCo files. 
+
+---
+
+Feel free to open an issue or contribute improvements!