Idate96
@Idate96
Public Skills
newton-sim-ros-startup
by Idate96
Start or restart the Moleworks ROS2 stack using the Newton simulator inside the default moleworks_ros:latest Docker container. Use when you need a clean tmux layout for Newton bridge, robot/TF/RViz, perception (elevation + excavation mapping), and optional Foxglove bridge, all with use_sim_time:=true.
kleinkram-upload
by Idate96
Stage and upload files to Kleinkram with mission creation and verification. Use when asked to upload datasets, run bags, or sysid artifacts to Kleinkram, especially from mixed folders that need extension filtering, filename normalization, source-to-upload mapping for traceability, and Moleworks canonical naming (moleworks project).
ocs2-arm-experiments
by Idate96
Start/restart Mole OCS2 arm controller experiments with real actuation commands in tmux, use configure-time auto-bootstrap (hold+reset+first-policy), activate safely, send cylindrical (r, theta, z, pitch) end-effector goals (Foxglove or CLI), record rosbag, and run staged validation while preventing competing /mole/actuator_commands publishers (e.g. dig_controller).
powerpoint-presentation-editing
by Idate96
Edit and restructure PowerPoint presentations (.pptx) with an iterative render-and-inspect loop. Use when you must preserve existing media (images, GIFs, embedded videos), update slide text/layout, reorder slides, or export slide previews (PDF/PNGs) for visual review.
rl-isaaclab
by Idate96
"End-to-end IsaacLab RL workflow in moleworks_ext: run with isaaclab.sh -p, local smoke tests, cluster submit/monitor/debug on Euler, sync results, benchmark pulled policies, and generate temporal training plots."
moleworks-ext-container-workflow
by Idate96
Launch and debug Moleworks IsaacLab commands inside the moleworks_ext Docker container with persistent tmux windows and captured output. Use when starting containerized training/play/eval scripts and when validating command startup.
ros-worktree
by Idate96
Create a new isolated ROS 2 workspace ("ROS worktree") for safe builds/testing without touching the main ~/moleworks/ros2_ws. Use when you need a throwaway-but-PR-able workspace under ~/moleworks/ros2_ws_SUFFIX, typically by copying src/ and then replacing one or more repos (e.g. moleworks_ros) with git worktrees from ~/git/.worktrees and symlinks.
moleworks-terra-stack
by Idate96
Bring up and test the Moleworks Terra ROS2 + IsaacLab stack in the correct Docker containers and tmux windows; use when starting/restarting isaac-terra + ros-terra, setting CycloneDDS/ROS_DOMAIN_ID, and validating /mole/state, /clock, TF, and basic node health.
ros2-debugging
by Idate96
ROS2 debugging with proper TF buffer timeouts. Use when checking transforms, topics, or debugging ROS2 systems.
sim-startup
by Idate96
Start or restart the Moleworks IsaacLab simulation and ROS2 stack in a clean, repeatable tmux layout (sim, robot, perception). Use when you need a fresh sim + TF/robot visualization + perception (including excavation mapping) in RViz.
rl-newton
by Idate96
"End-to-end Newton RL workflow in moleworks_newton: local smoke, cluster submit/monitor/debug, sync logs, benchmark checkpoints, and run post-benchmark analysis with strict experiment ledgers."
dig-controllers
by Idate96
"Start Moleworks dig controllers (dig_3d, dig_newton, dig_ee, etc.) in a split tmux window: one pane runs the controller launch, the other pane runs lifecycle helpers and shows the ros2 action send_goal command. Use when you want to start/activate a dig controller and manually trigger its action."
mole-graph-msf-container
by Idate96
Start or attach the Mole Graph-MSF Docker container on the host via the moleworks_ros_graph_msf alias and keep it running in tmux; optionally launch the mole_estimator inside the container. Use when the user asks to run/enter the graph_msf container, start the graph_msf Docker image, or run the state estimator inside that container.
dig-bag-recording
by Idate96
Start fast split rosbag recording for Mole dig/newton runs using the state-estimator convention. Use when you want separate bags for sensors, state, commands, lidar, camera (compressed image topics), and elevation_map, typically in tmux during digging experiments.
robot-startup
by Idate96
Set up the standard Moleworks ROS 2 tmux session for on-machine work with 4 windows in order (low_level, perception, estimator, foxglove). Use when asked to create/recreate the tmux window layout and start the stack quickly (dig controllers are started separately).
robot-ros
by Idate96
Moleworks ROS 2 (Jazzy) robot operations + runbook assistant for the Mole/Menzi M4 stack. Use for startup/shutdown, enabling autonomous mode, hydraulic unlock, running Nav2/MoveIt/dig controllers, checking topic health/rates, debugging lifecycle/action servers, and maintaining the robot-agent docs under src/moleworks_ros/docs/robot_agent/.
robot-move-check
by Idate96
Immediately send joint velocity commands for Mole/Menzi M4 via /mole/actuator_commands (MoleActuatorCommands). Use when the user asks to move boom/stick/tele/turn joints or run a quick motion check and wants minimal startup time.
robot-move-to-position
by Idate96
Move Mole/Menzi arm joints to explicit target positions using closed-loop velocity commands on /mole/actuator_commands with feedback from /mole/joint_states. Use when the user asks to place J_TURN/J_BOOM/J_STICK/J_TELE/J_EE_PITCH at specific values, preposition before sysid experiments, or recover to a safe mid pose.
ralpha-loop
by Idate96
Implement-test-review loop for coding tasks with strict iteration until reviewer has zero findings. Use when asked to implement changes, run tests, request review, address findings, retest, and repeat. Optimize for reusing the same reviewer agent across iterations instead of spawning new reviewers each cycle.
state-estimator-evaluate-bags
by Idate96
"Evaluate the Moleworks ROS2 mole_estimator on recorded MCAP/rosbag2 datasets: replay _sensors bags through the estimator (use_sim_time), record a reprocessed eval bag with /mole/state + /graph_msf/, run the offline analyzer, and generate a per-bag metrics markdown + summary table for tuning turn-joint filtering and base velocity smoothness."
gui-screenshot-loop
by Idate96
General GUI screenshot loop via MCP. Use for any screen/window/region capture while debugging UI or visual tools.
rviz-screenshot-loop
by Idate96
Capture RViz/GUI screenshots via MCP to close the loop while debugging ROS. Use when you need visual verification in RViz or other windows.