MH3-001 — Latest Updates & Progress
Running multi-host inference with NVIDIA GR00T and Cosmos-Reason2. Pipeline: cognitive → safety gate → DOF mapper → ROS2 → EtherCAT. Jetson Thor/Orin onboard compute handling real-time control loops.
Kokoro TTS + Deepgram STT integrated with LiveKit for voice interaction. Full speech-to-speech loop running on the robot's onboard compute.
OBSBOT/ZED-X for vision tracking. EMEET camera integration. 1080x1080 chest display active. Piper arms at 31 DOF with EtherCAT servo control.
Set up Mosaic Cloud Systems for project hosting, SQL, S3 storage, and CI/CD. Trinity is now running as an agent on Mosaic infrastructure with full API access to projects, database, and storage.
Full control pipeline operational: cognitive decisions flow through safety gate, DOF mapper converts to joint commands, ROS2 Jazzy handles orchestration, EtherCAT drives the arm servos. MH3-001 "Trinity" is the first physical robot on this stack.
Built out agent ecosystem: Trinity-Prime as orchestrator on the home RTX 5090 rig, shared Mirsee KB with Qdrant vector DB, Telegram bot integration for communication, and full email management via Mosaic.
31 DOF humanoid with Piper arms, Jetson Thor/Orin onboard compute, 1080x1080 chest display. EtherCAT-based arm servo control. Multi-host inference with GR00T and Cosmos-Reason2 for reasoning and world modeling.
NVIDIA GR00T · Cosmos-Reason2 · ROS2 Jazzy · Isaac Sim 6.0 · Kokoro TTS · Deepgram STT · LiveKit · Azure DevOps (ThunderBird → mh3)
NVIDIA Jetson Thor/Orin · RTX 6000 server · RTX 5090 home rig · Mosaic Cloud · Tailscale network · Qdrant vector DB