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Merged
juelg merged 57 commits into from
May 9, 2025
Merged

Async Operational Space Controller #167

juelg merged 57 commits into from
May 9, 2025

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@juelg
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@juelg juelg commented Mar 19, 2025 •
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  • adds Operational Space Controller support for hardware RCS
  • adds async control support to RCS
  • started to remove app code from RCS such as vive teleop and recorder wrapper (we might want to readd them later again but first need to get them right, they currently have large typing issues)

closes #122 and #93 (no longer needed)

@juelg juelg force-pushed the juelg/osc branch 2 times, most recently from f7ec622 to 275ed1f Compare March 26, 2025 22:04
juelg added 23 commits May 8, 2025 18:10
@juelg
fix: lock usgage, controllers, remove unused code
4a9ef04 
- remove osc2
- only one lock
- fixed get joint and cartesian for controllers
@juelg
updated stubs and added controllers to gym env
daebcb3
@juelg
feat: updated vive teleop to use controls and data recording
84d7a4a
@juelg
feat: added webcam live viewer and vla executer
5762b92
@juelg
feat: added async for teleop
3832b41
@juelg
removed high collision values
626b644
@juelg
fix(vive): collision guard
eed9177
@juelg
refactor(vive): more conservative lock usage
e7c20bd
@juelg
refactor: video frame is written every step
120181f
@juelg
feat(camera): added rate limiter
f3c3257
@juelg
fix(rel env): relative limiting for origin set
d624ab1
@juelg
refactor(hw camera): video recording in storage wrapper
9ae92ef
@juelg
adapted relative limits for teleop
47c8a6c
@juelg
fix(hw): joint controller torque limit
c4ef5f8
@juelg
fix: relative move move high freqency filter
f974bea
@juelg
fix: async reset
bee9764
@juelg
refactor(hw): moved stop async control thread to reset
5ddff27
@juelg
fix: lock usage in camera
3649a85
@juelg
refactor: proper rate limiter in vive
162dd75
@juelg
improved camera set handling and vive script
045a61c 
- vive script more configuration in header: storage path, camera set and gif
- proper start and end of video recording
- gif folder
@juelg
fix: remove slow unnecessary flatten
3a22845
@juelg
feat(hw gripper): async control for hardware gripper
6eebe36
@juelg
refactor(hw control): async control in config
074c50d
@juelg juelg changed the title Operational Space Controller for Teleop Operational Space Controller May 9, 2025
@juelg juelg changed the title Operational Space Controller Async Operational Space Controller May 9, 2025
@juelg juelg linked an issue May 9, 2025 that may be closed by this pull request
Async Robot Control #122
Closed
@juelg juelg mentioned this pull request May 9, 2025
Closed
juelg added 4 commits May 9, 2025 13:58
@juelg
fix(env): type assertion and improved tests
c1aa70d 
- fixed type assertion location (noticed by tests)
- optimized tests by removing camera in most cases
@juelg
refactor(cli): remove remaing config functions
9ce0c9f
@juelg
fix(fr3 desk): error when circle is not in event dict
f7a3409
@juelg
chore: models version bump
28a706a 
- updated models version
- adapted naming of models repo: eye-in-hand to wrist, removed color ref in geoms, box-joint to box_joint
@juelg juelg merged commit 3b52565 into master May 9, 2025
4 checks passed
@juelg juelg deleted the juelg/osc branch May 9, 2025 12:50
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Async Robot Control

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@juelg