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Merged
juelg merged 78 commits into from
Sep 23, 2025
Merged

feat: XArm7 support #206

juelg merged 78 commits into from
Sep 23, 2025

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@kennkhr
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@kennkhr kennkhr commented Aug 6, 2025 •
edited by juelg
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  • integrates the xarm7 from ufactory into rcs

tenfoldpaper and others added 16 commits August 6, 2025 14:23
@tenfoldpaper
fix: consistent function name
df35d8a
@tenfoldpaper
feat: added a HandWrapperSim
aeb3f0e
@tenfoldpaper
feat: added default config for sim tilburg hand
d5a5a7e
@tenfoldpaper
feat: added an option for simulating hand
b3155aa
@tenfoldpaper
fix: change hard-coded value orders to match hardware
95d78a4
@tenfoldpaper
feat: add an example for robot with hand
212970d
@tenfoldpaper
fix: account for binary case
80b703b
@tenfoldpaper
feat: add the simple hw tilburg test script
0e9ac2d
@juelg @tenfoldpaper
fix(ik): pinocchio ik with mjcf
e017cab 
- mjcf of pin ik must be the plain robot xml
- it has to have the default attribute which needs to be at the beginning
@juelg @tenfoldpaper
fix(sim): tcp offset in robot mjcf
9d23f1d
@tenfoldpaper
fomrat: pyformat and isort
c3c31ce
@tenfoldpaper
feat: add logic for init using either gripper or hand
2d882bd
@tenfoldpaper
format: pylint
dde203e
@kennkhr
feat: cartesian control
c7630e5
@kennkhr
minor: remove unnecessary scipy and etc.
afacfd7
@tenfoldpaper
format: pylint
019210b
juelg and others added 21 commits August 20, 2025 15:30
@juelg
style: removed unused imports
e24008a
@juelg
remove git lfs
a63b6e4
@juelg
chore: added all stl assets due to migration from git lfs
ee8280a
@juelg
chore: linting fixes
5de144a
@juelg
fix: tilburg hand usage of generic sized array
10bd8bf
@juelg
fix(bindings): robot and gripper interface with init function
643585b
@juelg
chore: fix linting of numpy array types
1983cfa
@juelg
Merge branch 'master' into feat/XArm7
48a0021
@juelg
feat(xarm): include depth in xarm realsense recording
122ff2b
@juelg
refactor(envs)!: renamed binary hand key to gripper
ee2793c 
renamed key for binary hand to gripper to match the gripper action dict
@tenfoldpaper
feat: added new envcreator for agent evaluation
8b88c9d
@tenfoldpaper
Merge branch 'feat/XArm7' of github.com:RobotControlStack/rcs into fe…
7bb1dbb 
…at/XArm7
@tenfoldpaper
feat: add new env creator for diffpol evaluation, refactor existing o…
4abfd8e 
…ne's camera creation logic
@kennkhr
feat: add async control
3ecd701
@tenfoldpaper
feat: added a configurable RandomObjectPos wrapper for flexible objec…
229a775 
…t placement in collector
@tenfoldpaper
feat: add random object pos to task env creator
a416988
@tenfoldpaper
fix: RandomObjectPos include setting orientation
65758b2
@kennkhr
fix: mode for async joint control and move_home
4509f81
@juelg
style: format py and cpp
305d9ee
@juelg
style: fix ruff linting
037f296
@juelg
style: fix mypy linting errors
59450a0
@juelg juelg merged commit 8070a01 into master Sep 23, 2025
4 checks passed
@juelg juelg deleted the feat/XArm7 branch September 23, 2025 09:40
@juelg juelg mentioned this pull request Sep 24, 2025
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4 participants

@kennkhr @juelg @tenfoldpaper