physai-stack-tour · the 5-service Physical AI mental map
Isaac Lab + LeRobot + Pi0.5 + ROS2 Jazzy + Foxglove in one compose. Onboarding doc as a runnable artifact.
services:
isaac:
image: nvcr.io/nvidia/isaac-lab:2.3
runtime: nvidia
environment: { ACCEPT_EULA: "Y", PRIVACY_CONSENT: "Y", TASK: Isaac-Lift-Cube-Franka-v0 }
command: ["./isaaclab.sh", "-p", "scripts/zero_agent.py", "--task", "$$TASK", "--num_envs", "4"]
lerobot:
image: huggingface/lerobot:0.5
environment: { DATASET: lerobot/aloha_sim_transfer_cube }
command: ["python", "-m", "lerobot.scripts.visualize_dataset", "--repo-id", "$$DATASET"]
policy:
image: snap/physical-ai:vla-server
environment: { MODEL: lerobot/pi05_droid, DEVICE: cuda, EXPORT: onnx }
ports: ["8001:8001"]
runtime: nvidia
ros:
image: ros:jazzy-ros-base
depends_on: [policy]
environment: { ROS_DISTRO: jazzy, RMW_IMPLEMENTATION: rmw_cyclonedds_cpp }
command: ["bash", "-lc", "source /opt/ros/jazzy/setup.bash && ros2 run snap_runtime vla_runner --ros-args -p policy_url:=http://policy:8001"]
foxglove:
image: ghcr.io/foxglove/foxglove-bridge:2.0
depends_on: [ros]
ports: ["8765:8765"]
Use as the README of any Physical AI service repo at your company. The 5-service compose IS the mental map: sim, dataset, policy, runtime, telemetry. Replace each with your real flavor (your task, your dataset, your fine-tune, your runtime config) — the topology stays. New hires can grok your stack in 10 minutes by running it. Snap onboarding sends new robotics engineers this compose on day 1.
physai-stack-tour · the 5-service Physical AI mental map
Isaac Lab + LeRobot + Pi0.5 + ROS2 Jazzy + Foxglove in one compose. Onboarding doc as a runnable artifact.
services:
isaac:
image: nvcr.io/nvidia/isaac-lab:2.3
runtime: nvidia
environment: { ACCEPT_EULA: "Y", PRIVACY_CONSENT: "Y", TASK: Isaac-Lift-Cube-Franka-v0 }
command: ["./isaaclab.sh", "-p", "scripts/zero_agent.py", "--task", "$$TASK", "--num_envs", "4"]
lerobot:
image: huggingface/lerobot:0.5
environment: { DATASET: lerobot/aloha_sim_transfer_cube }
command: ["python", "-m", "lerobot.scripts.visualize_dataset", "--repo-id", "$$DATASET"]
policy:
image: snap/physical-ai:vla-server
environment: { MODEL: lerobot/pi05_droid, DEVICE: cuda, EXPORT: onnx }
ports: ["8001:8001"]
runtime: nvidia
ros:
image: ros:jazzy-ros-base
depends_on: [policy]
environment: { ROS_DISTRO: jazzy, RMW_IMPLEMENTATION: rmw_cyclonedds_cpp }
command: ["bash", "-lc", "source /opt/ros/jazzy/setup.bash && ros2 run snap_runtime vla_runner --ros-args -p policy_url:=http://policy:8001"]
foxglove:
image: ghcr.io/foxglove/foxglove-bridge:2.0
depends_on: [ros]
ports: ["8765:8765"]
Use as the README of any Physical AI service repo at your company. The 5-service compose IS the mental map: sim, dataset, policy, runtime, telemetry. Replace each with your real flavor (your task, your dataset, your fine-tune, your runtime config) — the topology stays. New hires can grok your stack in 10 minutes by running it. Snap onboarding sends new robotics engineers this compose on day 1.