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RobotControlStack / robot-control-stack Public

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Async Operational Space Controller#167

Merged

juelg merged 57 commits intomasterRobotControlStack/robot-control-stack:masterfrom

juelg/oscRobotControlStack/robot-control-stack:juelg/oscCopy head branch name to clipboard

May 9, 2025

Conversation Commits57 (57)Checks Files changed

Merged

Async Operational Space Controller#167
juelg merged 57 commits intomasterfrom
juelg/osc

Commits

Commits on Mar 19, 2025

chore: libfranka version bump
juelg
committed

Commits on May 8, 2025

feat: added first osc implementation
juelg
committed
added joint controller
juelg
committed
fixed joint space controller
juelg
committed
fix: lock usgage, controllers, remove unused code
juelg
committed
updated stubs and added controllers to gym env
juelg
committed
feat: updated vive teleop to use controls and data recording
juelg
committed
feat: added webcam live viewer and vla executer
juelg
committed
feat: added async for teleop
juelg
committed
removed high collision values
juelg
committed
fix(vive): collision guard
juelg
committed
refactor(vive): more conservative lock usage
juelg
committed
refactor: video frame is written every step
juelg
committed
feat(camera): added rate limiter
juelg
committed
fix(rel env): relative limiting for origin set
juelg
committed
refactor(hw camera): video recording in storage wrapper
juelg
committed
adapted relative limits for teleop
juelg
committed
fix(hw): joint controller torque limit
juelg
committed
fix: relative move move high freqency filter
juelg
committed
fix: async reset
juelg
committed
refactor(hw): moved stop async control thread to reset
juelg
committed
fix: lock usage in camera
juelg
committed
refactor: proper rate limiter in vive
juelg
committed
improved camera set handling and vive script
juelg
committed
fix: remove slow unnecessary flatten
juelg
committed
feat(hw gripper): async control for hardware gripper
juelg
committed
refactor(hw control): async control in config
juelg
committed
chore: renamed ikcontroller to ik_solver
juelg
committed
refactor(hw): guiding mode configure DOFs
juelg
committed
refactor(hw): zero torque guiding integrated into control thread flow
juelg
committed
feat(hw gripper): bool state and is moving
juelg
committed
feat(wrappers): storage wrapper delays action
juelg
committed
refactor(storage wrapper)!: flag removed to simplify interface
juelg
committed
feat(wrapper)!: added hdf5 recorder wrapper
juelg
committed
refactor(recorder wrapper): moved gif generation into own function
juelg
committed
feat: frame rate logger
juelg
committed
feat(wrapper recorder): hdf5 gzip compression
juelg
committed
fix(hw gripper): exception handling for franka hand, improved roboustness
juelg
committed
format(cpp)
juelg
committed
fix(env gripper): remove same action ignore
juelg
committed
refactor(wrappers): fixed gif and video generation for HDF5 data
juelg
committed
fix(desk): cache token in case of program crash
juelg
committed
fix(hw camera): removed double video saving
juelg
committed
fix(desk): remove guiding mode in move home
juelg
committed
improved teleop interface
juelg
committed
Merge branch 'master' into juelg/osc
juelg
committed
style: pyformat
juelg
committed
chore: linter fixes
juelg
committed
fix(env): moved close of control thread to hw env
juelg
committed

Commits on May 9, 2025

refactor(control): remove vive and recorder app code
juelg
committed
fix: type linting issues
juelg
committed
style: fixed python format
juelg
committed
fix: wrong automatic import and logger
juelg
committed
fix(env): type assertion and improved tests
juelg
committed
refactor(cli): remove remaing config functions
juelg
committed
fix(fr3 desk): error when circle is not in event dict
juelg
committed
chore: models version bump
juelg
committed

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