@elizaos/robot

Python robotics stack (MuJoCo sim, Brax-PPO RL, websocket bridge, perception, trajectory DB) plus a thin TypeScript surface for re-exports and shared schemas. Used by @elizaos/plugin-ainex to drive simulated and real robots.

Multi-robot support is profile-driven. Every URDF/asset bundle, calibration, gait, and bridge configuration is keyed by RobotProfileId and lives under profiles/<id>/ (with binary assets under assets/profiles/<id>/). The first shipping profile is Hiwonder AiNex at profiles/hiwonder-ainex/.

Directory map

src/                 TS surface (re-exports, shared schemas)
sim/                 MuJoCo sim entrypoints
  mujoco/            MJX scenes, env wrappers
bridge/              Websocket bridge (robot ↔ runtime)
  backends/          Per-robot serial/USB/CAN backends
rl/                  Brax-PPO trainers and rollout harnesses
  skills/            Skill-conditioned policies
  text_conditioned/  Text-conditioned multi-task RL
perception/          Camera, ASR, embeddings, ONNX models
trajectory_db/       SQLite-backed trajectory store
schema/              Pydantic schemas shared with the TS surface
profiles/            Per-robot profile manifests
  hiwonder-ainex/    Hiwonder AiNex profile (default)
assets/              Binary assets (URDF/STL/XML)
  profiles/<id>/     Per-profile assets
scripts/             CLI helpers + CI gates
tests/               pytest suite
docs/                Architecture notes, SSD port assessment
checkpoints/         (gitignored) RL checkpoints
data/                (gitignored) datasets, captures, calibration

Commands

Most user-facing CLIs are populated in later waves:

bash

bun run robot:fake   # local fake remote backend (coming in Wave 7)
bun run robot:demo   # voice + sim demo (coming in Wave 7)
bun run test:robot   # full robot test lane (coming in Wave 8)

Today, only the scaffold is in place:

bash

bun run --cwd packages/robot build        # tsdown — TS surface
bun run --cwd packages/robot typecheck    # tsc --noEmit
bun run --cwd packages/robot test         # vitest + pytest shim
bun run --cwd packages/robot test:py      # uv run pytest tests/ -q

Conventions

Never run heavy GPU work locally — push to Nebius.
Force CPU JAX locally: JAX_PLATFORMS=cpu.
Do not commit checkpoints, videos, or large data. The .gitignore covers the common cases. *.npz files larger than ~5MB should be stored externally — gitignore cannot enforce size, so be explicit when adding fixtures.
Profiles are first-class: every codepath that touches a robot accepts a RobotProfileId and resolves assets/config from profiles/<id>/.

See AGENTS.md for the full contract.