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Merged
juelg merged 25 commits into from
May 14, 2025
Merged

Refactorings #179

juelg merged 25 commits into from
May 14, 2025

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@juelg juelg commented May 9, 2025 •
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  • removed rcs app code that does not belong to the library
  • fixed quaternion naming (quart -> quat)
  • refactored factory functions to env creator classes, also renamed the file to creators to emphasize this
  • renamed resource manager into context manager
  • removed unused nrobots class
  • removed recordings (dont belong into the library)
  • renamed python package to rcs
  • flexible DOF by using VectorXd in Eigen

@juelg juelg force-pushed the juelg/refactorings branch from 9b01217 to e142064 Compare May 9, 2025 19:52
juelg added 19 commits May 13, 2025 11:29
@juelg
refactor(env): sim specific gripper func into own wrapper
1a0f42d 
Puts simulation specific gripper functionality (currenlty only collision checking) into an own gripperwrappersim
@juelg
refactor(control): remove app code
40f1ecf
@juelg
refactor: removed unsued recordings
6cd4f62
@juelg
refactor: remove unused n robots class
d631e93
@juelg
refactor: rename resource manager to context manager
0244fd7
@juelg
refactor(env): renamed factories to creators
75fe8cf 
Renaming to emphazies that in this file live the env creator classes.
@juelg
refactor(env): factory functions into env creators
39b99eb 
- moved camera robot wrapper to sim env file
- refactored all factory functions to env creator classes
- renamed resource manager into context manager
@juelg
moved creators to the correct location
67533e0
@juelg
refactor: rename quart to quat
6332a2c
@juelg
refactor: rename motion generator
cb7b5ac 
This rename makes sure its clear the motion generator is FR3 specific
@juelg
refactor: removed unused robotwithgripper class
ff81bcc
@juelg
refactor(cpp): sim independent of robot type
3604951 
- refactor Vector7d to Vectord
- renamed FR3 sim files that are independent of FR3
- added home pose dictionary
@juelg
undo Vectord to Vector7d
8686804 
Vectord leads to seg fault
@juelg
refactor: rename sim robot classes pybind
1843345
@juelg
updated generated stubs
c388ef0
@juelg
refactor: rename rcs sim classes in python
f79c032
@juelg
refactor: renaming of env creator classes
7ca6b52 
- env creator classes named accordingly
- hardware env creator extend a specific class to allow checking on type
@juelg
refactor: rename FR3Env to RobotEnv
501f24e
@juelg
refactor: Flexible dof and robot meta config
024df2c 
- VectorXd type for flexible joint spaces
- adapted gym spaces to be dof independent
- robot meta config struct to describe meta configs of robot such as dofs
- robot platform enum moved to cpp part
@juelg juelg force-pushed the juelg/refactorings branch from 9174d76 to 024df2c Compare May 14, 2025 08:47
@juelg juelg merged commit 8f543e0 into master May 14, 2025
4 checks passed
@juelg juelg deleted the juelg/refactorings branch May 14, 2025 14:03
@juelg juelg linked an issue May 23, 2025 that may be closed by this pull request
Remove NRobotsWithGripper #58
Closed
This was linked to issues May 23, 2025
Implement a way to get current observation from envs #123
Open
Robot Independent Refactoring #175
Closed
Gripper Wrapper HW and Sim Independent Class #176
Closed
Refactor factory functions #177
Closed
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@juelg