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feat: so101 support #211

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juelg wants to merge 86 commits into from
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feat: so101 support #211

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da20279
chg: Created a C++ side base class for generic Hand, and refactored T…
tenfoldpaper Aug 5, 2025
492c982
feat: added a grasp type enum for the hand
tenfoldpaper Aug 6, 2025
3f28522
feat: added a basic compiling sim tilburg hand
tenfoldpaper Aug 6, 2025
3065fa5
fix: syntax consistency
tenfoldpaper Aug 6, 2025
515b10c
feat: pybind for SimTilburgHand
tenfoldpaper Aug 6, 2025
00ca9b3
feat: stubgen for SimTilburgHand
tenfoldpaper Aug 6, 2025
67fc60f
fix: add SimTIlburgHand to exported stuff
tenfoldpaper Aug 6, 2025
b07c6f0
feat: add xArm7 extension
kennkhr Aug 6, 2025
df35d8a
fix: consistent function name
tenfoldpaper Aug 6, 2025
aeb3f0e
feat: added a HandWrapperSim
tenfoldpaper Aug 6, 2025
d5a5a7e
feat: added default config for sim tilburg hand
tenfoldpaper Aug 6, 2025
b3155aa
feat: added an option for simulating hand
tenfoldpaper Aug 6, 2025
95d78a4
fix: change hard-coded value orders to match hardware
tenfoldpaper Aug 6, 2025
212970d
feat: add an example for robot with hand
tenfoldpaper Aug 6, 2025
80b703b
fix: account for binary case
tenfoldpaper Aug 6, 2025
0e9ac2d
feat: add the simple hw tilburg test script
tenfoldpaper Aug 6, 2025
e017cab
fix(ik): pinocchio ik with mjcf
juelg Aug 6, 2025
9d23f1d
fix(sim): tcp offset in robot mjcf
juelg Aug 6, 2025
c3c31ce
fomrat: pyformat and isort
tenfoldpaper Aug 6, 2025
2d882bd
feat: add logic for init using either gripper or hand
tenfoldpaper Aug 6, 2025
dde203e
format: pylint
tenfoldpaper Aug 6, 2025
c7630e5
feat: cartesian control
kennkhr Aug 6, 2025
afacfd7
minor: remove unnecessary scipy and etc.
kennkhr Aug 7, 2025
019210b
format: pylint
tenfoldpaper Aug 7, 2025
ad07609
chore: rename urdf and git lfs for stl
juelg Aug 6, 2025
3f821cb
chore: unifed mjcf robot name
juelg Aug 6, 2025
2c9a024
feat: added mjcf xarm7
juelg Aug 6, 2025
84e37d8
Merge branch 'master' into tilburg_grasp
tenfoldpaper Aug 7, 2025
adca4f4
format: cleanup
tenfoldpaper Aug 7, 2025
d20c5cf
format: pyformat
tenfoldpaper Aug 7, 2025
c033293
format: pyformat
tenfoldpaper Aug 7, 2025
151ccd9
Merge pull request #208 from utn-mi/tilburg_grasp
juelg Aug 7, 2025
a9b15a3
refactor: introduce close method for cleanup
juelg Aug 7, 2025
c32337f
fix: call proper setter function
kennkhr Aug 7, 2025
7dd4eff
feat: working real setup integration
kennkhr Aug 7, 2025
e0b655e
feat: grasp demo
kennkhr Aug 7, 2025
af472e9
feat: added digital twin for xarm
juelg Aug 7, 2025
146fa77
chore: collision guard update
juelg Aug 7, 2025
3c5f367
feat: twin grasp
kennkhr Aug 7, 2025
5991876
feat: pretty xarm
tenfoldpaper Aug 8, 2025
937a360
fix: relative path for scences
juelg Aug 11, 2025
2a8da3c
fix: seg fault in examples
juelg Aug 11, 2025
0f3551b
refactor: scene and kinematic file usage
juelg Aug 11, 2025
6fc4057
refactor: added mjcf and kinematics path to robot config
juelg Aug 11, 2025
317b067
chore: removed unused tilburg hand example
juelg Aug 11, 2025
1eefae7
refactor: proper scene configuration
juelg Aug 11, 2025
dc493dc
fix: remove tcp offset from franka
juelg Aug 11, 2025
662e461
fix: data class import in init
juelg Aug 12, 2025
4c2d693
fix(sim): fixed length simrobot ids
juelg Aug 12, 2025
5e40918
fix(sim): confusion of joint and actuator values
juelg Aug 12, 2025
b67c563
chore: stl into git lfs
juelg Aug 12, 2025
35bf84b
fix(model): actuatorgravcomp in xarm
juelg Aug 12, 2025
883286d
fix: change to trajectory planning mode
kennkhr Aug 13, 2025
6d5d233
fix: remove repeated robot_cfg
kennkhr Aug 13, 2025
e24008a
style: removed unused imports
juelg Aug 20, 2025
a63b6e4
remove git lfs
juelg Aug 20, 2025
ee8280a
chore: added all stl assets due to migration from git lfs
juelg Aug 20, 2025
5de144a
chore: linting fixes
juelg Aug 20, 2025
10bd8bf
fix: tilburg hand usage of generic sized array
juelg Aug 20, 2025
643585b
fix(bindings): robot and gripper interface with init function
juelg Aug 20, 2025
1983cfa
chore: fix linting of numpy array types
juelg Aug 20, 2025
48a0021
Merge branch 'master' into feat/XArm7
juelg Aug 21, 2025
122ff2b
feat(xarm): include depth in xarm realsense recording
juelg Aug 26, 2025
ee2793c
refactor(envs)!: renamed binary hand key to gripper
juelg Aug 26, 2025
8b88c9d
feat: added new envcreator for agent evaluation
tenfoldpaper Aug 26, 2025
7bb1dbb
Merge branch 'feat/XArm7' of github.com:RobotControlStack/rcs into fe…
tenfoldpaper Aug 26, 2025
4abfd8e
feat: add new env creator for diffpol evaluation, refactor existing o…
tenfoldpaper Aug 26, 2025
3ecd701
feat: add async control
kennkhr Aug 28, 2025
229a775
feat: added a configurable RandomObjectPos wrapper for flexible objec…
tenfoldpaper Aug 28, 2025
a416988
feat: add random object pos to task env creator
tenfoldpaper Aug 28, 2025
65758b2
fix: RandomObjectPos include setting orientation
tenfoldpaper Aug 28, 2025
4509f81
fix: mode for async joint control and move_home
kennkhr Sep 9, 2025
305d9ee
style: format py and cpp
juelg Sep 16, 2025
037f296
style: fix ruff linting
juelg Sep 16, 2025
59450a0
style: fix mypy linting errors
juelg Sep 16, 2025
1e34097
test: remove collision guard
juelg Sep 16, 2025
74b80fe
feat: so101 sim support
juelg Aug 12, 2025
2183417
chore(so101): example add gripper and fix cart coordinates
juelg Aug 14, 2025
c004c4a
fix(so101): mjcf rotation
juelg Aug 14, 2025
407c462
feat(so101): adapted ik, fixed examples
juelg Aug 19, 2025
0b7a868
feat: so101 joint controller that limits movement
juelg Aug 20, 2025
62888af
refactor: so101 stl from lfs to git
juelg Aug 20, 2025
0266f2d
fix(so101): improved controller but still has some problems
juelg Aug 22, 2025
ed4edb3
chg: added hardcoded home values
tenfoldpaper Sep 5, 2025
5ee5473
working so101
tenfoldpaper Sep 13, 2025
188bae6
style: formatting and linting
juelg Sep 16, 2025
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2 changes: 0 additions & 2 deletions .gitattributes
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0 assets/scenes/fr3_empty_world/fr3.urdf → assets/scenes/fr3_empty_world/robot.urdf
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0 assets/scenes/fr3_empty_world/fr3_0.xml → assets/scenes/fr3_empty_world/robot.xml
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2 changes: 1 addition & 1 deletion assets/scenes/fr3_empty_world/scene.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<mujoco model="fr3 scene">
<include file="fr3_common.xml"/>
<include file="fr3_0.xml"/>
<include file="robot.xml"/>

<statistic center="0.3 0 0.4" extent="1"/>

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0 assets/scenes/fr3_simple_pick_up/fr3.urdf → assets/scenes/fr3_simple_pick_up/robot.urdf
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0 assets/scenes/fr3_simple_pick_up/fr3_0.xml → assets/scenes/fr3_simple_pick_up/robot.xml
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2 changes: 1 addition & 1 deletion assets/scenes/fr3_simple_pick_up/scene.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<mujoco model="simple pick up task">
<include file="fr3_common.xml" />
<include file="fr3_0.xml" />
<include file="robot.xml" />

<statistic center="0.3 0 0.4" extent="1" />

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1 change: 1 addition & 0 deletions assets/scenes/so101_empty_world/assets
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../../so101/stl
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