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Caltech-AMBER / obelisk Public

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Issues 53
Pull requests 8
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FR3 Interface#141

Draft

alberthli wants to merge 40 commits intomainCaltech-AMBER/obelisk:mainfrom

fr3-interfaceCaltech-AMBER/obelisk:fr3-interfaceCopy head branch name to clipboard

Conversation Commits40 (40)Checks Files changed

Draft

FR3 Interface#141
alberthli wants to merge 40 commits intomainfrom
fr3-interface

Commits

Commits on Jun 10, 2025

update/fix setup scripts
alberthli
committed
update pixi
alberthli
committed
update versions of internal deps
alberthli
committed
update docker to work for fr3 setup
alberthli
committed
update README for clarity on FR3 setup
alberthli
committed
remove recommended option in the README
alberthli
committed
update pixi version in workflow
alberthli
committed
update python and ubuntu versions in CI
alberthli
committed
updated pixi deps
alberthli
committed
run linter on all files
alberthli
committed
fix ruff formatting
alberthli
committed
update linter versions + fix formatting
alberthli
committed
fix formatting
alberthli
committed

Commits on Jun 11, 2025

resolve merge conflicts
alberthli
committed
remove accidentally committed unresolved merge conflicts
alberthli
committed

Commits on Jun 23, 2025

update
alberthli
committed
fix linting error
alberthli
committed
Merge pull request #136 from Caltech-AMBER/alberthli/update-setup
alberthli
authored
first cut at adding the fr3 hardware interface + package
alberthli
committed
fix pyright errors
alberthli
committed
[UNTESTED] push some code prior to testing the fr3 interface on multiple devices
alberthli
committed
remove docker-fr3 flag
alberthli
committed
remove docker fr3 build args
alberthli
committed
various changes/fixes to get the FR3 interface to boot up
alberthli
committed
make ROS_DOMAIN_ID 0 by default unless something is passed for it
alberthli
committed
try publishing states at 1khz
alberthli
committed
adjust to seemingly maximum of 250hz
alberthli
committed
change control mode to joint by default
alberthli
committed
try fixing indexing
alberthli
committed

Commits on Jun 24, 2025

add a joint_vel control mode to the driver
alberthli
committed
add configuration of the realtime group for fr3 setup
alberthli
committed
update cap_add and ulimits
alberthli
committed
update example joint controller
alberthli
committed
catch control exceptions
alberthli
committed
set relative dynamics factor for arm
alberthli
committed
adjustments and debugging
alberthli
committed
adjust fr3 hardware settings
alberthli
committed
minor change to global state node entrypoint
alberthli
committed
test
alberthli
committed
add launch_global flag to obk-launch
alberthli
committed

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