机器人与自主系统

RoboBrain 2.0: See Better. Think Harder. Do Smarter.

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Objective

Leverage MCP's standardization capabilities to provide a unified vendor integration specification, creating an embodied robot universal skill store that enables oneclick integration of robot skills with robot frameworks.

Fourier GR2 Robot Skill Server

This skill server provides MCPbased control for the Fourier GR2 humanoid robot.

CLAUDE.md

gr2sim is the current contributionready RoboSkill baseline for connecting RoboOS to GR2 running inside Isaac Sim / Isaac Lab.

Plan

今天的目标不是做完整仿真场景，而是交付一个能让另一支 team 先接入 master 的可运行基线。

GR2 Sim Skill Bridge

gr2sim is the current RoboSkill baseline for driving GR2 inside Isaac Sim / Isaac Lab through RoboOS.

Runbook

RUNBOOK.md has been merged into README.md/home/fmc3/Documents/workspace1/fmc3robotics/projects/RoboSkill/fmc3robotics/gr2sim/README.md.

Work Log

新建 gr2sim 目录，作为正式贡献边界。 抽出 skill.py / gr2controller.py / simapp.py / config.py，形成 RoboOS 到 Isaac Sim 的最小桥接版。 暴露 connectrobot / disconnectrobot / getjointstate / listnamedposes / movenamedpose / movejoints。

LeRobot SO101 Follower Skill Server

This is a FastMCP skill server that exposes lowlevel control for a LeRobot SO101 follower arm.

Fourier GR2 Robot Skill Server

This skill server provides MCPbased control for the Fourier GR2 humanoid robot.

🤖 Realman Robot Skill Server

This project provides skill services for a Realman robot, including object grasping with a wristmounted camera and target navigation. It integrates:

Fourier GR2 Robot SDK 封装包

这是一个基于 Fourier Aurora SDK 的 Python 高层封装库，旨在简化 GR2 机器人的开发流程。

Conda 环境打包指南

本文档记录了如何使用 condapack 打包环境，并将其恢复到新电脑的 Conda 目录中，以便继续使用 conda 命令进行管理（如 conda activate）。

RoboOS 启动指南

语音控制系统启动指南

本指南将帮助你启动 Fourier GR2 机器人的语音控制系统。该系统包含两种模式： 1. 离线版本 推荐：使用 Vosk 模型进行本地语音识别，响应快且无需网络。 2. 云端版本：使用 Google 语音识别，需要互联网连接。

DoraRecord 转 LeRobot v3.0 数据集转换指南

convertdoratolerobot.py 将外骨骼遥操采集的 DoraRecord 格式数据转换为 LeRobot v3.0 格式，用于后续的策略模型训练（ACT、Diffusion、PI0、SmolVLA 等）。

registerpackageresource<packagename <resourcetype CONTENT <content

packageresourceindexer ========================

ament\cmake\google\benchmark

This package contains logic for invoking Google Benchmarkhttps://github.com/google/benchmarkreadme tests and is comprised of three main parts:

usage

To use this package do the following things. add a test dependency to your packages.xml: <testdependamentcmakegtest</testdepend Write a gtest executable: Use include <gtest/gtest.h and standard gtest methods. Find packag

amentcmakepython

This package adds functions for installing Python packages and modules in CMake.

amentindexcpp Quality Declaration

This document is a declaration of software quality for the amentindexcpp package, based on the guidelines in REP2004https://www.ros.org/reps/rep2004.html.

amentindexcpp

amentindexcpp is a C++ API to access the ament resource index.

amentindexpython Quality Declaration

This document is a declaration of software quality for the amentindexpython package, based on the guidelines in REP2004https://github.com/rosinfrastructure/rep/blob/rep2004/rep2004.rst.

amentindexpython

amentindexpython is a python API to access the ament resource index.