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juelg
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Apr 12, 2026
juelg
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- restructure assets: clearer structure and only contain absolute minimum for RCS examples
- updated actuators in so101
- reset ur5e, fr3 and panda to original menagerie xml
- added gravcomp script that can add and remove gravity compensation
- removed gravity compensation of all xmls as this will be done in the composer
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- restructure assets: clearer structure and only contain absolute minimum for RCS examples - updated actuators in so101 - reset ur5e, fr3 and panda to original menagerie xml - added gravcomp script that can add and remove gravity compensation - removed gravity compensation of all xmls as this will be done in the composer
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- removed meta robot config due to limited extensibility - moved q_home and joint_limits to robot config - refactored robot type: now class based for python extensibility - readded wrapper configs: home_on_reset for robot wrapper and binary from gripper wrapper, they need to be extra configs for composition and not part of the robot/gripper config
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- added scenes api - fixed quaternion bug in composer - fixed bug in add prefix of sim robot config in attachment site - kinematic file is no longer default urdf but mjcf - added panda to robot type - SimRobotConfig: added missing dof, joint_limits and q_home
- add gravity compensation for joints and bodies - add gravity compensation in scene api - fix: integrator implicit fast in scene xml
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- added scene paths dict - moved attachment site to add gripper in model composer - simscene: moved mjcf composition to load_scene - simscene: added option to load seperate robot mjcf different from robot config, this allows for example to have two arms which are represented in one model
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- fix: action and observation space exposing in multi robot wrapper - fix: sim camera config was missing copy and was returning base config when deepcopy - feat: added camera adding to sim scene api - example: added cameras to the scene.py fr3 empty world example
- add fovy on sim cameras - info to storage wrapper - fix: double gui in teleop
BREAKING!: ParallelPickTask
…robot-control-stack into juelg/refactor-assets
- also fixed camera config in franka.py teleop script
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closed in favor of #283 |
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