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feat: flexiv rizon 4s integration - #341
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- Add the printable Rizon 4s D405 wrist mount (OpenSCAD source, STLs, MJCF) and attach it with the camera in the Rizon 4s scene. - Add EmptyWorldRizon4SDuo: two tilted Rizon 4s with Grav grippers and wrist cameras in a shared base frame, registered as rcs/rizon4s_duo. - Update the Grav gripper to match the MuJoCo Menagerie model: split finger_tip.obj into pad and holder (MuJoCo only loads the first OBJ group), rotate the finger_mount visual by 1.86 degrees, derive link masses and inertias from mesh volumes, converter regenerates it. - Rotate the Grav mount offset by 180 degrees to match how the gripper is bolted to the flange. - rcs_flexiv: work in the base frame regardless of the world frame configured on the robot (estimated at connect), add gripper manual initialization for the 48 V Grav, Cartesian impedance teleop. - Teleop example drives only the connected arms.
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October 23, 2026 02:18
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