refactor(assets): restructure assets folder - #275

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juelg wants to merge 89 commits into

juelg/refactor-assets

Commits on Apr 12, 2026

Commits on Apr 13, 2026

Merge branch 'master' into juelg/refactor-assets
juelg
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9ffe74c

Commits on Apr 14, 2026

refactor(sim)!: remove mjcf_scene_path from robot config
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5ca3d84
refactor!: robot type now object based
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eac502b
feat: scenes api
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4535d95
feat(composer): gravity compensation
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3eaa31a
chore: remove legacy scenes definition
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06658fa
style: formatting
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dc93a8c

Commits on Apr 15, 2026

lint: python linting fixes
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484c2d0
feat: added readded robot meta config in python
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e385ebb
test: fix kinematic test
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9de3c26
feat(scenes): seperate robot mjcf model
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8c5ee25
feat: proper frame definitions in sim scene config
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5d2bab0
feat(sim scene): supports objects
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67be1a6
style: fix linting errors
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22a603a
feat(sim scene): prefix cfg accessible
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b234b20
feat(composer): add camera function
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0847af6

Commits on Apr 16, 2026

feat(sim scene): adding cameras by config
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f3025e4
fix(sim): robotiq stl
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ea2515e
fix: dof in metaconfig of ur and so
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f7a83f9
fix(bindings): add missing gripper type
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b50d8d9
feat(sim): ur5e in scene composer
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3b375bb
fix: frame rate limiter
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79af71d
feat(sim): gripper access fix
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86b94e9
examples: fix fr3 examples to follow new api
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60bea98
feat(composer): add optional gripper offset
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04add60
feat(composer): add robot frame objects to config
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30f4709
refactor(composer): use rcs pose object
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48f3042
fix(scenes): added missing rotation for frankahand
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d74daba
feat(scene): add FR3 duo empty world setup
tenfoldpaper
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101e832
feat: add working main for duo
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4865faf
fix: remove hardcoded FR Hand home value on last joint
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a03313b
fix: remove autogenerated file
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d6c47df
formatting: pyformat
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257405d
refactor(scene): improved prefix and config confusion
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4b6d362
feat(scene api): add cameras with meshes
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b4cf76c
feat: add camera xmls and paths
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a4cf34e
fix: rename default body name
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4dc25c0
fix(composer): find camera
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30c9a6c

Commits on Apr 17, 2026

feat: improve accuracy for d405
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6fa0d17
feat: add wrist cameras on both arms
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8280510
feat: update zed mini and add "head" camera to duo setup
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6cf6887
fix(composer): gravcomp only for robots
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884d423
feat(quest operator): allow left/right switch
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65e5d1b
feat(objects): add green cube
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f281cbb
example: teleop with duo
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bace482
chore(teleop): adapted settings duo scene
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ee9372a
fix(scenes): q_home franka with FH
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01d5768
refactor(scenes): stateless and naming
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968e646
docs: fixed iris installation
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c026600
feat(scenes): task interface
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a1072e7

Commits on Apr 20, 2026

feat: add DEFAULT_TRANSFORMS holding common tf for robot setup
tenfoldpaper
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45cd3fc
feat(scenes): added task example draft
juelg
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eea7d7a
feat(pose): function to get quaternion in wxyz order
juelg
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fdc913d
feat (added tasks, configs and wrappers to for mate and join blocks) due to a lack of setup not tested as of now
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0c7675c
feat(task): pick task
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d742122
Merge branch 'juelg/refactor-assets' of https://github.com/RobotControlStack/robot-control-stack into juelg/refactor-assets
Simonhil
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18fe8ad
fix: unresolved merge conflict
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5707df3
fix(sim:camera): memory leak by using ring buffer
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659064f
chore: fovy, storage wrapper and double gui fix
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ea73649

Commits on Apr 21, 2026

added working parallel pick task
tenfoldpaper
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3522bef
chore: adapt ur5e example
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477c8eb
chore: adapt xarm7 example
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c407258
feat(scenes): allow non existing gripper type
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fb206ac
chore: adapt so101 example
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fa5e57e
chore(test): fix test with new scene refactor
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5ae413c

Commits on Apr 22, 2026

chg!: remove task-specific objects
tenfoldpaper
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2da1fcb
chg: remove parallel_pick_task
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c5a6ce7
fix: remove broken ref to parallel pick
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93445d4
feat: auto-add prefix to asset paths
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9cb6d3e
fix: correct tf matrix multiplication order
tenfoldpaper
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75d4c1b
fix: duo mount root is at the bottom
tenfoldpaper
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8ec4cf4
Merge branch 'juelg/refactor-assets' of github.com:RobotControlStack/robot-control-stack into juelg/refactor-assets
tenfoldpaper
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a8aec46
format: pyformat
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c70bd2f
feat(fr3): hw env with RCSEnvCreator and config
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8c8e3de
feat(panda): hw env with RCSEnvCreator and config
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b3b4b18
feat(ur5e): hw env with RCSEnvCreator and config
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dd1c89a
fix(hw:gripper): gripper types
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5d120da
feat(xarm7): hw env with RCSEnvCreator and config
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a5e3cd8
feat(so101): hw env with RCSEnvCreator and config
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a1a6e14
refactor(examples): hardware examples with new env creation
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96e96e2
cleanup: remove old creator functions and default factories
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866e61b
docs: update docs with examples updated after env creation refactory
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ef6108c
lint: fix ruff linting errors
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4932b6e
lint: fix mypy linting
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e0e9014