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feat(extension): taxim integration - #319

Merged

juelg merged 92 commits into

masterfrom

jin/taxim_cleanup

Jul 20, 2026

Commits on Jun 25, 2026
- fix: compatibility with mujoco 3.10.0
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- feat: add rcs_taxim
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- feat: working taxim demo with robotiq gripper
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- fix: remove misplaced tactile sensor demo
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- WIP: implementation of StableBaselines3 PPO
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Commits on Jun 27, 2026
- wip: add readme instruction for starting sb3
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- fix: don't flatten obs by default
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- feat: add proper spaces for training and inference with parallelization option
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- feat: add mesh-based box
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- feat: add norm2tex material piping
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- WIP: run_ablate for physics check
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- feat: somewhat working ablation script
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Commits on Jun 28, 2026
- add docker container and ppo reward
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Commits on Jun 29, 2026
- undo changes and add step to startgrasp wrapper
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Commits on Jul 8, 2026
- remove deprecated sb3 package
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- fix(docker): link script
  
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- feat: zed cli rgb snapshot
  
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- fix(teleop): depth in cameras
  
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- chore(quest): simplify right/left swapping logic
  
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- impr(robotiq): physical reset only in constructor
  
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- feat: robotiq in teleop script
  
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- impr(gripper): improved change detection
  
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- feat(zed): add option to record both eyes
  
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- feat(inference): add initial inference loop script
  
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- style: format inference franka script
  
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- fix(franka): inference script after testing
  
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- feat: sim inference
  
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- fix: patch always open gripper observation
  
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- feat: reconnect and keyboard control
  
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- feat: optionally record
  
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- feat: added mp4 video converter from recording
  
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- feat(mp4): added joint display
  
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- fix: printing and sim sleep
  
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- feat: action chunking optionally in inference script
  
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- feat: support for relative actions
  
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- feat: inference add success button
  
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- fix(storage wrapper): flush keeps last to avoid success problems
  
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- fix(mp4): shows joint actions if available
  
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- fix(fr3): torque discontinuity while reset
  
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- fix(hw camera): stop camera before stop polling thread
  
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- feat: using input instead of pynput
  
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- feat: add limited absolute action wrapper
  
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- feat: add limited absolute actions to inference script
  
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- stash: latest version
  
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- stash: add notes
  
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- fix: left/right wrist camera bug
  
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- fix: docker dependency
  
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- fix(inference): image resize method to match conversion
  
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- docs: added documentation for assets path
  
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- fix(pypi): pin compatible pinocchio runtime deps
  
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- fix(egl): fail fast when rendering is requested without egl
  
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- chore: rename python package to rcs_core
  
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- chore: remove global pynput dependency
  
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- bump: version 0.7.1 → 0.7.2
  
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- build: rename rcs to rcs-core
  
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- ci: python wheel building
  
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- docs: updated install instructions
  
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- docs: added libfranka version documentation
  
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- build: auditwheel repair and readded libpoco
  
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- build(panda): fr3 copy over
  
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- build: fix rcs find path
  
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- build: fix license and author name
  
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- ci: fix wheel and cibuildwheel for pipy uploading
  
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- chore: cleanup unused codes and comments
  
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- docs: added inference
  
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- style: fix format
  
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- fix: resolve ruff lint errors
  
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- fix: resolve mypy type errors
  
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- docs: added python headers to readme
  
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- fix: resolve pytest failures and StorageWrapper hang
  
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- style: fix gym warning and path obj in cli
  
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- Merge branch 'master' into jin/taxim_cleanup
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- format: pyformat
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- misc: bump taxim version
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- misc: update mujoco-taxim dependency
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Commits on Jul 12, 2026
- fix: correct EE orientation and trajectory for Robotiq
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- Merge pull request #317 from RobotControlStack/upgrade-mjspec
  
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- fix: remove deprecated test
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- fix: correct version number
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- format: pyformat
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- format: pyformat
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Commits on Jul 16, 2026
- fix: move the digit demo to rcs/examples
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- fix: remove unnecessary files
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- fix: remove hardcoded path and rename function more clearly
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- fix: add rcs_taxim extension to list
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- fix: import the file instead of class
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- format: pyformat and pylint
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- Merge branch 'master' into jin/taxim_cleanup
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- fix: change default name in EmptyWorldFR3 to robot
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Commits on Jul 17, 2026
- fix: add robot_prefix_template as an arg to config; revert to right
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- format: pyformat
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- fix: remove input argument to config
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Commits

Commits on Jun 25, 2026

Commits on Jun 27, 2026

Commits on Jun 28, 2026

Commits on Jun 29, 2026

Commits on Jul 8, 2026

Commits on Jul 12, 2026

Commits on Jul 16, 2026

Commits on Jul 17, 2026