feat(sim): add external simulation provider contract - #3375

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Nabla7 wants to merge 39 commits into

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feat/pimsim-simulation-provider

Commits on Jul 23, 2026

Add pluggable simulation providers
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c2b4297

Commits on Jul 24, 2026

Unify G1 real and simulated perception stacks
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410ee00
Relay native PointLIO output to Zenoh
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41aaa92
Restore scene visual package alignment
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056cacc
Restore provider-owned G1 localization
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a9b02a2
Share PointLIO Zenoh relay
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235846e
Show G1 lidar in its public frame
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d22ad2f
Tune Groot simulation visualization
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4f3fa15
Keep coordinator RPC on the local control plane
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5c89fc8
Revert "Keep coordinator RPC on the local control plane"
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61c549b

Commits on Jul 25, 2026

Commits on Jul 29, 2026

Align simulator mapping and visualization boundaries
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854ee10
Merge remote-tracking branch 'origin/main' into feat/pimsim-simulation-provider
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1630351
Fix G1 apartment navigation clearance
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df56d7f

Commits on Jul 31, 2026

Commits on Aug 3, 2026

fix macOS CLIP inference in workers
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c569c63
test(simulation): unify semantic navigation acceptance
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e76029d
Merge remote-tracking branch 'origin/main' into feat/pimsim-simulation-provider
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c0e26d2
feat: run xarm7 simulation through pimsim
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0abc1d8
feat: configure rerun for xarm simulation
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bfa5515
refactor: move simulator control ABI to hardware boundary
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8bac125
feat(manipulation): add simulation operator controls
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70e554c
fix(manipulation): restore interactive target planning
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08e9013

Commits on Aug 4, 2026

fix(manipulation): align planner with simulated arm base
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d31c2b8
Merge remote-tracking branch 'origin/main' into feat/pimsim-simulation-provider
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15d61ea
fix: preserve runtime objects in blueprint config
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7dcbd36
Fix simulated xArm pick-and-place execution
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c4d202b
Add full-fidelity mesh scene cooking
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0c236e6
Use world-frame mapping for simulated G1
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3ad0cdc
feat(sim): publish updated PimSim scene packages
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6f2c826

Commits on Aug 5, 2026

Merge remote-tracking branch 'origin/main' into feat/pimsim-simulation-provider
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85acc0e
refactor(sim): narrow integration to provider contract
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d01b00b
fix(sim): restore PimSim Go2 startup
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4634598