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Merged
juelg merged 26 commits into from
Apr 10, 2025
Merged

feat(sim): support for camera robot lab scene #165

juelg merged 26 commits into from
Apr 10, 2025

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@suman1209
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@suman1209 suman1209 commented Jan 13, 2025 •
edited by juelg
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  • support for digit hand in mujoco simulation
  • new gym envs that can be created using gym.make: rcs/SimplePickUpSimDigitHand-v0, rcs/LabPickUpSimDigitHand-v0
  • TCP offset was added to all xml model files and is read out for inverse kinematics
  • model repo version bump
  • refactored gym env creation: both lab and simple world scence share most of the creation code
  • added camrobot class which sets the joint poses of the second camera robot in case it is used as a tripod
  • added flag to avoid convergence registration for robots that are not used for the task e.g. camera robots

@suman1209 suman1209 self-assigned this Jan 13, 2025
@suman1209 suman1209 requested a review from juelg January 13, 2025 18:08
@suman1209 suman1209 changed the title feature(sim): added lab empty world and lab sim env with digit hand feat(sim): added lab empty world and lab sim env with digit hand Jan 15, 2025
juelg
juelg requested changes Jan 24, 2025
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@suman1209 suman1209 requested a review from juelg January 29, 2025 18:14
@suman1209 suman1209 marked this pull request as ready for review March 20, 2025 11:54
juelg
juelg approved these changes Mar 24, 2025
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juelg added 3 commits April 10, 2025 10:47
@juelg
feat(sim fr3): make convergence callback registration optional
80e2c7c
@juelg
fix(sim): allow string path in tcp offset getter
2d905eb
@juelg
refactor(sim envs): simple and lab pick up share more code
977c04e 
- update models
- refactored random cube pos lab wrapper into random cube pos wrapper
- refactored fr3 lab pick up sim success wrapper into pick cube success wrapper
- refactored sim env creation for pick up tasks into own method
- fix cam robot: does not register itself to convergence callback anymore
@juelg juelg force-pushed the nava/digit_grippers branch from 630f57b to 7014c60 Compare April 10, 2025 15:29
@juelg juelg changed the title feat(sim): added lab empty world and lab sim env with digit hand feat(sim): support for camera robot lab scene Apr 10, 2025
@juelg juelg merged commit d93f10f into master Apr 10, 2025
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@juelg juelg deleted the nava/digit_grippers branch April 10, 2025 16:41
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@suman1209 @juelg