feat(env): tilburg hand controller integration #172
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…HandControl class
juelg
changed the title
juelg
changed the title
juelg
requested changes
Apr 17, 2025
…rg-hand library to requieremnts_dev.txt
- Add dataclass for configuration of Tilburg hand - Remove config folder from hand module
- revert env_cartesian_control.py to master version - Put default_tilburg_hw_hand_cfg in HARDWARE instead of SIMULATION
juelg
requested changes
May 16, 2025
Contributor
juelg
left a comment
juelg
left a comment
There was a problem hiding this comment.
I have reviewed the code again. Good job! I just have a few minor things, that I'll fix by myself today, if thats fine by you.
- make architecture leaner: just a python protocol class that defines the interface, removed bridge pattern to removed interface overhead - removed example support of non binary grasps - added useful configurations to the config such as control unit - moved tilburg hand dependency to pyproject.toml
juelg
approved these changes
May 19, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Integration of
tilburg_handController into RCSSThis pull request introduces support for robot hand control via the
tilburg_handcontroller, enabling both binary and continuous action modes within the RCSS environment.Key Features
Main Changes Introduced
Added:
HandWrapperclass inrobot-control-stack/python/rcsss/envs/base.py→ Provides a unified interface for hand control and integrates with the existing environment stack.
Added: New module
robot-control-stack/python/rcsss/hand/→ Contains the
tilburg_handcontroller implementation.Notes
tilburg_hand, but alternative controllers can be easily plugged in.