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feat: XArm7 support - #206

Merged

juelg merged 78 commits into

masterfrom

feat/XArm7

Sep 23, 2025

Merged

feat: XArm7 support#206
juelg merged 78 commits into
masterfrom
feat/XArm7

Commits on Aug 5, 2025
- chg: Created a C++ side base class for generic Hand, and refactored Tilburg Hand python code to inherit from it
  tenfoldpaper
  committed
  da20279
Commits on Aug 6, 2025
- feat: added a grasp type enum for the hand
  tenfoldpaper
  committed
  492c982
- feat: added a basic compiling sim tilburg hand
  tenfoldpaper
  committed
  3f28522
- fix: syntax consistency
  tenfoldpaper
  committed
  3065fa5
- feat: pybind for SimTilburgHand
  tenfoldpaper
  committed
  515b10c
- feat: stubgen for SimTilburgHand
  tenfoldpaper
  committed
  00ca9b3
- fix: add SimTIlburgHand to exported stuff
  tenfoldpaper
  committed
  67fc60f
- feat: add xArm7 extension
  kennkhr
  committed
  b07c6f0
- fix: consistent function name
  tenfoldpaper
  committed
  df35d8a
- feat: added a HandWrapperSim
  tenfoldpaper
  committed
  aeb3f0e
- feat: added default config for sim tilburg hand
  tenfoldpaper
  committed
  d5a5a7e
- feat: added an option for simulating hand
  tenfoldpaper
  committed
  b3155aa
- fix: change hard-coded value orders to match hardware
  tenfoldpaper
  committed
  95d78a4
- feat: add an example for robot with hand
  tenfoldpaper
  committed
  212970d
- fix: account for binary case
  tenfoldpaper
  committed
  80b703b
- feat: add the simple hw tilburg test script
  tenfoldpaper
  committed
  0e9ac2d
- fix(ik): pinocchio ik with mjcf
  
  juelg
  authored and
  tenfoldpaper
  committed
  e017cab
- fix(sim): tcp offset in robot mjcf
  
  juelg
  authored and
  tenfoldpaper
  committed
  9d23f1d
- fomrat: pyformat and isort
  tenfoldpaper
  committed
  c3c31ce
- feat: add logic for init using either gripper or hand
  tenfoldpaper
  committed
  2d882bd
- format: pylint
  tenfoldpaper
  committed
  dde203e
- feat: cartesian control
  kennkhr
  committed
  c7630e5
Commits on Aug 7, 2025
- minor: remove unnecessary scipy and etc.
  kennkhr
  committed
  afacfd7
- format: pylint
  tenfoldpaper
  committed
  019210b
- chore: rename urdf and git lfs for stl
  juelg
  committed
  ad07609
- chore: unifed mjcf robot name
  juelg
  committed
  3f821cb
- feat: added mjcf xarm7
  juelg
  committed
  2c9a024
- Merge branch 'master' into tilburg_grasp
  tenfoldpaper
  authored
  84e37d8
- format: cleanup
  tenfoldpaper
  committed
  adca4f4
- format: pyformat
  tenfoldpaper
  committed
  d20c5cf
- format: pyformat
  tenfoldpaper
  committed
  c033293
- Merge pull request #208 from utn-mi/tilburg_grasp
  juelg
  authored
  151ccd9
- refactor: introduce close method for cleanup
  juelg
  committed
  a9b15a3
- fix: call proper setter function
  kennkhr
  committed
  c32337f
- feat: working real setup integration
  kennkhr
  committed
  7dd4eff
- feat: grasp demo
  kennkhr
  committed
  e0b655e
- feat: added digital twin for xarm
  juelg
  committed
  af472e9
- chore: collision guard update
  juelg
  committed
  146fa77
- feat: twin grasp
  kennkhr
  committed
  3c5f367
Commits on Aug 8, 2025
- feat: pretty xarm
  tenfoldpaper
  committed
  5991876
Commits on Aug 11, 2025
- fix: relative path for scences
  juelg
  committed
  937a360
- fix: seg fault in examples
  juelg
  committed
  2a8da3c
- refactor: scene and kinematic file usage
  juelg
  committed
  0f3551b
- refactor: added mjcf and kinematics path to robot config
  juelg
  committed
  6fc4057
- chore: removed unused tilburg hand example
  juelg
  committed
  317b067
- refactor: proper scene configuration
  juelg
  committed
  1eefae7
- fix: remove tcp offset from franka
  juelg
  committed
  dc493dc
Commits on Aug 12, 2025
- fix: data class import in init
  juelg
  committed
  662e461
- fix(sim): fixed length simrobot ids
  juelg
  committed
  4c2d693
- fix(sim): confusion of joint and actuator values
  juelg
  committed
  5e40918
- chore: stl into git lfs
  juelg
  committed
  b67c563
- fix(model): actuatorgravcomp in xarm
  juelg
  committed
  35bf84b
Commits on Aug 13, 2025
- fix: change to trajectory planning mode
  kennkhr
  committed
  883286d
- fix: remove repeated robot_cfg
  kennkhr
  committed
  6d5d233
Commits on Aug 20, 2025
- style: removed unused imports
  juelg
  committed
  e24008a
- remove git lfs
  juelg
  committed
  a63b6e4
- chore: added all stl assets due to migration from git lfs
  juelg
  committed
  ee8280a
- chore: linting fixes
  juelg
  committed
  5de144a
- fix: tilburg hand usage of generic sized array
  juelg
  committed
  10bd8bf
- fix(bindings): robot and gripper interface with init function
  juelg
  committed
  643585b
- chore: fix linting of numpy array types
  juelg
  committed
  1983cfa
Commits on Aug 21, 2025
- Merge branch 'master' into feat/XArm7
  juelg
  authored
  48a0021
Commits on Aug 26, 2025
Commits on Aug 28, 2025
- feat: add async control
  kennkhr
  committed
  3ecd701
- feat: added a configurable RandomObjectPos wrapper for flexible object placement in collector
  tenfoldpaper
  committed
  229a775
- feat: add random object pos to task env creator
  tenfoldpaper
  committed
  a416988
- fix: RandomObjectPos include setting orientation
  tenfoldpaper
  committed
  65758b2
Commits on Sep 9, 2025
- fix: mode for async joint control and move_home
  kennkhr
  committed
  4509f81
Commits on Sep 16, 2025
- style: format py and cpp
  juelg
  committed
  305d9ee
- style: fix ruff linting
  juelg
  committed
  037f296
- style: fix mypy linting errors
  juelg
  committed
  59450a0
- test: remove collision guard
  juelg
  committed
  88c60ab
- feat(install): copy scene files into install folder
  juelg
  committed
  801800f
Commits on Sep 23, 2025
- refactor: removed get tcp offset from mjcf utility
  juelg
  committed
  934b99e

Commits

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Commits on Aug 26, 2025

Commits on Aug 28, 2025

Commits on Sep 9, 2025

Commits on Sep 16, 2025

Commits on Sep 23, 2025