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Peppy

v0.30.3

Join several robots into one simulation, each bringing its own model, plus a warning-free generated test harness.

Released on September 20, 2026

Simulation

  • Join several robots into one simulation, each a copy bringing its own model; Isaac Sim and Waldo stand many at once, while MuJoCo stands one at a time.
  • Remove a simulated robot with peppy stack remove and only that robot leaves; the simulation stays running for the next join.
  • The simulation's model catalogue carries OpenArm v1, OpenArm v2, and SO-101, and a simulated SO-101 starts in its home posture with the jaw closed.

Generated test harness

  • The Rust test harness peppygen generates now compiles warning-free for a node that publishes nothing.

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