Conversation
- str as primary camera identifier - maps for managing cameras and corresponding contexts - new simcamerasetconfig which contains dict with camera configs - camera types in bindings and support for default free camera
Juelg/free and fix cameras
feat(env): Implemented quaternion actions
Update last_call_timestamp of callbacks
- removed not working cache for get_space - fixed usage of np.concat in envs - fixed control type in sim env
- added reset method for abstract robot, added reset method to hw::FR3 - added normalized_width getter and setter to gripper - changed grasp to void and added is_grapsed method - added reset method - adapted interface usage in NRobotsWithGripper and in FrankaHand - adapted python bindings and type hints
- Implemented sim::FrankaHand gripper class and corresponding state and config classes - Including: setting gripper width, reading gripper width, convergence and collision callbacks - Adapted python bindings and stub files
This env checks in a seperate simulations if it detects a collision for the current step. If so then it truncates the episode and does not execute the step.
The RelativeActionSpace Wrapper no longer has to come directly after the FR3Env as it would not work with the CollisionGuard in that way. The only down side is that the step function cannot be typed anymore now.
Replaced usage of depricated gym env .env attribute with .unwrapped to access the base environment
- resource manager already for env creation - correct tcp offset
feat: bare metal rcsss examples and chore - added examples that use bare metal rcsss and not the gym interface - added python-dotenv dependency - examples to use python dot env for robot login - consistent use of devices own generic reset methods instead of using reset logic on env level - fixed gripper sim bug, where it would not be able to start in a open form in the sim - updated gripper env to use the current state to compare whether a new action should be performed and not the last remembered state - removed typed factories and sim tests, see - removed typed Factories #131
Before starting a new thread we check if there is already a thread running.
- env factory methods for fr3 hw and sim to create customizable gym envs - added default config methods into factories module - examples to use env factories - keyboard control to use env factories - merged env methods from utils file with env factories -> deleted utils file
feat: keyboard-based robot teleoperation Further chore work: - env factory methods for fr3 hw and sim to create customizable gym envs - added default config methods into factories module - examples to use env factories - keyboard control to use env factories - merged env methods from utils file with env factories -> deleted utils file
fix: pose calculation and control for vive teleoperation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.