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feat: so101 support - #211

Closed

juelg wants to merge 86 commits into

masterfrom

feat/SO101

Closed

feat: so101 support#211
juelg wants to merge 86 commits into
masterfrom
feat/SO101

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
  1e34097
- feat: so101 sim support
  juelg
  committed
  74b80fe
- chore(so101): example add gripper and fix cart coordinates
  juelg
  committed
  2183417
- fix(so101): mjcf rotation
  juelg
  committed
  c004c4a
- feat(so101): adapted ik, fixed examples
  juelg
  committed
  407c462
- feat: so101 joint controller that limits movement
  juelg
  committed
  0b7a868
- refactor: so101 stl from lfs to git
  juelg
  committed
  62888af
- fix(so101): improved controller but still has some problems
  juelg
  committed
  0266f2d
- chg: added hardcoded home values
  
  tenfoldpaper
  authored and
  juelg
  committed
  ed4edb3
- working so101
  
  tenfoldpaper
  authored and
  juelg
  committed
  5ee5473
- style: formatting and linting
  juelg
  committed
  188bae6

Commits

Commits on Aug 5, 2025

Commits on Aug 6, 2025

Commits on Aug 7, 2025

Commits on Aug 8, 2025

Commits on Aug 11, 2025

Commits on Aug 12, 2025

Commits on Aug 13, 2025

Commits on Aug 20, 2025

Commits on Aug 21, 2025

Commits on Aug 26, 2025

Commits on Aug 28, 2025

Commits on Sep 9, 2025

Commits on Sep 16, 2025