Free debugger on OpenCode Zen; separate code and scene model lists

Route every task to a model automatically and budget AI usage in rupees

Let ROS 2 code use its own model (CODE_LLM_MODEL)

Add /code/check, more robots, and a real hold controller

Use GLM-5.3 via OpenRouter and run simulations on Modal (RunPod optional)

Add ROS 2 code generation via OpenCode, README