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Start, stop, restart, and health-check the MuJoCo sim server and agent server. Use when (1) launching the sim for skill development or testing, (2) restarting after a crash, (3) checking if the sim is running, (4) shutting down cleanly.
Codex または Claude でインストール この Prompt をコピーして Codex、Claude、または他のアシスタントに貼り付けると、Skill ページを確認してインストールできます。
SOC 職業分類に基づく
Bundle a Tidybot skill and its dependencies into a single executable Python script for robot submission. Use when (1) submitting a multi-dependency skill to the robot, (2) preparing code for the /code/execute API, (3) resolving deps.txt dependency chains into one file.
Audit all Tidybot repos for uncommitted/unpushed changes, diff workspace skills and personality files against the Tidybot-Universe setup repo, and summarize. Use when (1) the user says "push tidybot" or "commit tidybot", (2) reviewing what's changed before pushing, (3) syncing workspace files to the public repo.
Robot connection credentials and API endpoints — IP address, API key, base URL, and all key REST endpoints. Use when (1) making API calls to the robot, (2) executing code on the robot via /code/execute, (3) debugging connection issues or timeouts, (4) needing the robot IP or API key mid-session, (5) polling execution status or retrieving recorded frames, or (6) fetching SDK docs or the getting-started guide.
Execute a physical task on the robot (pick up, place, move, look at, etc.). Use when the user asks you to do something with/on the robot — any manipulation, navigation, or perception task. Triggers on requests like "pick up the banana," "put that on the plate," "go to the table," "what do you see," etc.
External services catalog — model endpoints, vision APIs, grasping backends, and Python client SDKs available to robot skills. Use when (1) a skill needs an external model or API, (2) checking what backend services are available, (3) debugging service timeouts or connection failures, (4) requesting a new service that doesn't exist yet, (5) downloading or using a service's Python client SDK.
Build, test, and iterate robot skills for Tidybot. Use when (1) asked to make a new robot skill, (2) prototyping or iterating on skill code, (3) running or recording skill trials, (4) tracking success/failure stats, (5) deciding whether to chain existing skills or build new, (6) debugging skill execution, (7) needing a backend API, model, or service that doesn't exist yet.
| name | tidybot-sim-manager |
| description | Start, stop, restart, and health-check the MuJoCo sim server and agent server. Use when (1) launching the sim for skill development or testing, (2) restarting after a crash, (3) checking if the sim is running, (4) shutting down cleanly. |
/home/yifei/miniconda3/envs/tidybot-sim/bin/python~/tidybot_uni/sim~/tidybot_uni/agent_server:1 (for GUI mode)| Port | Service | Protocol |
|---|---|---|
| 50000 | Base bridge | RPC |
| 5555 | Franka CMD | ZMQ REP |
| 5556 | Franka State | ZMQ PUB |
| 5557 | Franka Stream | ZMQ SUB |
| 5570 | Gripper CMD | ZMQ REP |
| 5571 | Gripper State | ZMQ PUB |
| 5580 | Camera bridge | WebSocket |
| 8080 | Agent server API | HTTP |
| 8081 | Sim HTTP API (reset/health) | HTTP |
Order matters: sim server first, then agent server.
fuser -k 5555/tcp 5556/tcp 5557/tcp 5570/tcp 5571/tcp 5580/tcp 8080/tcp 8081/tcp 50000/tcp 2>/dev/null
sleep 2
cd ~/tidybot_uni/robocasa_sim && DISPLAY=:1 /home/yifei/miniconda3/envs/tidybot-sim/bin/python -u -m sim_server 2>&1
pty: true for unbuffered output--no-gui for headless mode (no MuJoCo viewer)[sim] Entering physics loop--task BananaTestKitchen --layout 1 --style 1cd ~/tidybot_uni/agent_server && /home/yifei/miniconda3/envs/tidybot-sim/bin/python -u server.py --no-service-manager 2>&1
Uvicorn running on http://0.0.0.0:8080curl localhost:8081/health # Sim server
curl localhost:8080/health # Agent server
Kill both processes. Then clear ports to avoid conflicts on next start:
fuser -k 8080/tcp 8081/tcp 5555/tcp 5556/tcp 5557/tcp 5570/tcp 5571/tcp 5580/tcp 50000/tcp 2>/dev/null
POST localhost:8081/reset — soft reset (instant, restores initial state)POST localhost:8081/reset/hard — hard reset (~2s, full scene reload)GIT_SSH_COMMAND="ssh -i ~/.ssh/thinkpad_docker_noetic_github -p 443 -o StrictHostKeyChecking=no" git push
| Problem | Fix |
|---|---|
Address already in use on startup | Kill stale ports (Step 1) |
| No output for 90+ seconds | Normal — kitchen scene compilation is slow |
| No MuJoCo viewer window | Set DISPLAY=:1, don't use --no-gui |
| Agent server can't connect to backends | Sim server isn't running yet — start it first |
| Lease expires before you can release | Idle timeout is 15s — extend lease or be quick |
Permission denied (publickey) on push | Use the SSH command above |