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refactor!: unify env/scenes API across robots and restructure assets - #283

Merged

juelg merged 99 commits into

masterfrom

feat/unified-env-config-and-assets-refactor

Apr 23, 2026

Merged

refactor!: unify env/scenes API across robots and restructure assets#283
juelg merged 99 commits into
masterfrom
feat/unified-env-config-and-assets-refactor

Commits on Apr 12, 2026
- refactor(assets): restructure assets folder
  juelg
  committed
  566423c
- chore: remove unused left over of collision guard
  juelg
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  d4a107f
- refactor!: pinocchio default for urdf is now false
  juelg
  committed
  75ecfbb
- refactor(sim): postfix id is now prefix for better mjspec logic
  juelg
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  1ce8913
- feat(sim): add inital mjspec composer version
  juelg
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  d822b11
Commits on Apr 13, 2026
- Merge branch 'master' into juelg/refactor-assets
  juelg
  committed
  9ffe74c
Commits on Apr 14, 2026
- refactor(sim)!: remove mjcf_scene_path from robot config
  juelg
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  5ca3d84
- refactor!: robot type now object based
  juelg
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  eac502b
- feat: scenes api
  juelg
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  4535d95
- feat(composer): gravity compensation
  juelg
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  3eaa31a
- chore: remove legacy scenes definition
  juelg
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  06658fa
- style: formatting
  juelg
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  dc93a8c
Commits on Apr 15, 2026
- lint: python linting fixes
  juelg
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  484c2d0
- feat: added readded robot meta config in python
  juelg
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  e385ebb
- test: fix kinematic test
  juelg
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  9de3c26
- feat(scenes): seperate robot mjcf model
  juelg
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  8c5ee25
- feat: proper frame definitions in sim scene config
  juelg
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  5d2bab0
- feat(sim scene): supports objects
  juelg
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  67be1a6
- style: fix linting errors
  juelg
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  22a603a
- feat(sim scene): prefix cfg accessible
  juelg
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  b234b20
- feat(composer): add camera function
  juelg
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  0847af6
Commits on Apr 16, 2026
- feat(sim scene): adding cameras by config
  juelg
  committed
  f3025e4
- fix(sim): robotiq stl
  juelg
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  ea2515e
- fix: dof in metaconfig of ur and so
  juelg
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  f7a83f9
- fix(bindings): add missing gripper type
  juelg
  committed
  b50d8d9
- feat(sim): ur5e in scene composer
  juelg
  committed
  3b375bb
- fix: frame rate limiter
  juelg
  committed
  79af71d
- feat(sim): gripper access fix
  juelg
  committed
  86b94e9
- examples: fix fr3 examples to follow new api
  juelg
  committed
  60bea98
- feat(composer): add optional gripper offset
  juelg
  committed
  04add60
- feat(composer): add robot frame objects to config
  juelg
  committed
  30f4709
- refactor(composer): use rcs pose object
  juelg
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  48f3042
- fix(scenes): added missing rotation for frankahand
  juelg
  committed
  d74daba
- feat(scene): add FR3 duo empty world setup
  tenfoldpaper
  committed
  101e832
- feat: add working main for duo
  tenfoldpaper
  committed
  4865faf
- fix: remove hardcoded FR Hand home value on last joint
  tenfoldpaper
  committed
  a03313b
- fix: remove autogenerated file
  tenfoldpaper
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  d6c47df
- formatting: pyformat
  tenfoldpaper
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  257405d
- refactor(scene): improved prefix and config confusion
  juelg
  committed
  4b6d362
- feat(scene api): add cameras with meshes
  juelg
  committed
  b4cf76c
- feat: add camera xmls and paths
  tenfoldpaper
  committed
  a4cf34e
- fix: rename default body name
  tenfoldpaper
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  4dc25c0
- fix(composer): find camera
  juelg
  committed
  30c9a6c
Commits on Apr 17, 2026
- feat: improve accuracy for d405
  tenfoldpaper
  committed
  6fa0d17
- feat: add wrist cameras on both arms
  tenfoldpaper
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  8280510
- feat: update zed mini and add "head" camera to duo setup
  tenfoldpaper
  committed
  6cf6887
- fix(composer): gravcomp only for robots
  juelg
  committed
  884d423
- feat(quest operator): allow left/right switch
  juelg
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  65e5d1b
- feat(objects): add green cube
  juelg
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  f281cbb
- example: teleop with duo
  juelg
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  bace482
- chore(teleop): adapted settings duo scene
  juelg
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  ee9372a
- fix(scenes): q_home franka with FH
  juelg
  committed
  01d5768
- refactor(scenes): stateless and naming
  juelg
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  968e646
- docs: fixed iris installation
  juelg
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  c026600
- feat(scenes): task interface
  juelg
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  a1072e7
Commits on Apr 20, 2026
- feat: add DEFAULT_TRANSFORMS holding common tf for robot setup
  tenfoldpaper
  committed
  45cd3fc
- feat(scenes): added task example draft
  juelg
  committed
  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
  Simonhil
  committed
  0c7675c
- feat(task): pick task
  juelg
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  d742122
- Merge branch 'juelg/refactor-assets' of https://github.com/RobotControlStack/robot-control-stack into juelg/refactor-assets
  Simonhil
  committed
  18fe8ad
- fix: unresolved merge conflict
  juelg
  committed
  5707df3
- fix(sim:camera): memory leak by using ring buffer
  juelg
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  659064f
- chore: fovy, storage wrapper and double gui fix
  juelg
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  ea73649
Commits on Apr 21, 2026
- added working parallel pick task
  tenfoldpaper
  committed
  3522bef
- chore: adapt ur5e example
  juelg
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  477c8eb
- chore: adapt xarm7 example
  juelg
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  c407258
- feat(scenes): allow non existing gripper type
  juelg
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  fb206ac
- chore: adapt so101 example
  juelg
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  fa5e57e
- chore(test): fix test with new scene refactor
  juelg
  committed
  5ae413c
Commits on Apr 22, 2026
- chg!: remove task-specific objects
  tenfoldpaper
  committed
  2da1fcb
- chg: remove parallel_pick_task
  tenfoldpaper
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  c5a6ce7
- fix: remove broken ref to parallel pick
  tenfoldpaper
  committed
  93445d4
- feat: auto-add prefix to asset paths
  tenfoldpaper
  committed
  9cb6d3e
- fix: correct tf matrix multiplication order
  tenfoldpaper
  committed
  75d4c1b
- fix: duo mount root is at the bottom
  tenfoldpaper
  committed
  8ec4cf4
- Merge branch 'juelg/refactor-assets' of github.com:RobotControlStack/robot-control-stack into juelg/refactor-assets
  tenfoldpaper
  committed
  a8aec46
- format: pyformat
  tenfoldpaper
  committed
  c70bd2f
- feat(fr3): hw env with RCSEnvCreator and config
  juelg
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  8c8e3de
- feat(panda): hw env with RCSEnvCreator and config
  juelg
  committed
  b3b4b18
- feat(ur5e): hw env with RCSEnvCreator and config
  juelg
  committed
  dd1c89a
- fix(hw:gripper): gripper types
  juelg
  committed
  5d120da
- feat(xarm7): hw env with RCSEnvCreator and config
  juelg
  committed
  a5e3cd8
- feat(so101): hw env with RCSEnvCreator and config
  juelg
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  a1a6e14
- refactor(examples): hardware examples with new env creation
  juelg
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  96e96e2
- cleanup: remove old creator functions and default factories
  juelg
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  866e61b
- docs: update docs with examples updated after env creation refactory
  juelg
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  ef6108c
- lint: fix ruff linting errors
  juelg
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  4932b6e
- lint: fix mypy linting
  juelg
  committed
  e0e9014
- ci: fix ci for large prs
  juelg
  committed
  a16a163
- chore: remove unused code
  juelg
  committed
  bb610e8
- chore: update stubgen files
  juelg
  committed
  459d812
- ci: fix stubgen output and mypy lint
  juelg
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  01cbd4e
- fix: unblock extension CI
  juelg
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  02497d2
Commits on Apr 23, 2026
- fix: store robot type registry ids by value
  juelg
  committed
  3926654
- fix: preserve both quest reset-origin swaps
  juelg
  committed
  69c9365
- fix: avoid numpy truth ambiguity in pick task
  juelg
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  9536298
- fix: restore rotation_q_wxyz helper usage
  juelg
  committed
  b9fefdc
- license(assets): add original assets license from menagerie
  juelg
  committed
  81a171e

Commits

Commits on Apr 12, 2026

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Commits on Apr 15, 2026

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Commits on Apr 20, 2026

Commits on Apr 21, 2026

Commits on Apr 22, 2026

Commits on Apr 23, 2026