Ashwinvk/hubble gear position 1 - #2

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ashwinvkNV wants to merge 88 commits into

shauryad/flexiv_gear_insertionfrom

ashwinvk/hubble-gear-position-1

Commits on Apr 5, 2026

Code for Flexiv Rizon 4s support for gear insertion.
shauryadNv
committed
be30f21
Fixes for Flexiv gear insertion env.
shauryadNv
committed
75fd331
Quaternion fix.
shauryadNv
committed
c566bab
Reverted stiffness and damping.
shauryadNv
committed
bf16556
Minor fix for gear insertion as per warp changes.
shauryadNv
committed
7cfa46c
Minor fix as per quaternion format change.
shauryadNv
committed
c7bfbcf
Minor fix as per quaternion format change.
shauryadNv
committed
e6be50d
Removed comments.
shauryadNv
committed
c7b3ae3
Minor param fixes for Flexiv gear insertion.
shauryadNv
committed
8a42c10
Fixed some params and reduced some randomizations.
shauryadNv
committed
f10c7d3
Fixed init state of setup.
shauryadNv
committed
83bb736
Large gear only.
shauryadNv
committed
bb894b6
Added gear randomizations.
shauryadNv
committed
3af04a7
Added stiffness, damping and friction randomization.
shauryadNv
committed
7320117
All gears.
shauryadNv
committed
11bff1d
Removed param randomization.
shauryadNv
committed
4cb84e0
Added gear randomization within gripper.
shauryadNv
committed
a09520e
Large gear only.
shauryadNv
committed
cee549d
Changed gears and gear base mean position.
shauryadNv
committed
2d4f306
.
shauryadNv
committed
77579a8
Fixed gear base and gears init and increased randomization.
shauryadNv
committed
8b71bd7
Increased gripper gear randomization.
shauryadNv
committed
6be409f
Added friction randomization.
shauryadNv
committed
e991802
Increased observation randomization.
shauryadNv
committed
2f55109
Reduced obs noise, fixed params for better gear gripping without slippage.
shauryadNv
committed
4c29856
Revert "Reduced obs noise, fixed params for better gear gripping without slippage."
shauryadNv
committed
8f65f06
Added reward functions for EE vs gear keypoint distance.
shauryadNv
committed
01c999a
Weight scaling with training iters for EE vs gear rewards.
shauryadNv
committed
ff8f48a
Fixed weight scaling schedule.
shauryadNv
committed
e7e93aa
Disabled weight scaling and reduced fixed val.
shauryadNv
committed
c4737ae
Changed EE vs gear reward weight value.
shauryadNv
committed
31ea251
Changed EE vs gear reward weight value.
shauryadNv
committed
cba665f
Changed EE vs gear reward to trigger after threshold.
shauryadNv
committed
5f245c2
Replaced distance threshold with insertion progress threshold.
shauryadNv
committed
c24b49b
Added action reward term, disabled ee vs gear reward term.
shauryadNv
committed
6c0e8ec
Disabled action rate reward.
shauryadNv
committed
6f33337
Added thresholding on ee gear dist.
shauryadNv
committed
7245311
Changed threshold.
shauryadNv
committed
bebbfd9
Replaced action with action rate reward and made ee gear wt non-zero.
shauryadNv
committed
4bf6f9a
Disabled scaling of ee gear wt.
shauryadNv
committed
9d5c142
Fixed wt.
shauryadNv
committed
9a17b32
Changed threshold.
shauryadNv
committed
03a7fba
Changes to distance threshold and wts.
shauryadNv
committed
09f34b2
Fixed PD values.
shauryadNv
committed
a60c539
Enabled action reward term.
shauryadNv
committed
f982cba
Reverted PD values.
shauryadNv
committed
17071cf
Removed action reward.
shauryadNv
committed
87484c1
Adding eval script for rsl_rl policies.
shauryadNv
committed
853d7a2
Changing implicit to explicit ideal controller for flexiv.
shauryadNv
committed
e798064
Changed to DC Motor controller.
shauryadNv
committed
f777fb9
Fixed physics frequency.
shauryadNv
committed
ace70c0
Changed to ideal controller.
shauryadNv
committed
0f49686
Fixed lazy_export stubs and lazy imports for Flexiv gear insertion after rebase.
shauryadNv
committed
67b0e78
Formatting fixes.
shauryadNv
committed
6c3c38b
Code clean up and name updates.
shauryadNv
committed
a7875d9
Updated gear assembly doc to include flexiv.
shauryadNv
committed
95eeff2
Formatting fix.
shauryadNv
committed
a64389c
Moved flexiv gear insertion to implicit actuator and previous working PD values.
shauryadNv
committed
ee8328d
Formatting fix.
shauryadNv
committed
5165744
Reverted unnecessary change.
shauryadNv
committed
28c6b9e

Commits on Apr 6, 2026

Removed eval script.
shauryadNv
committed
458baf1
Disabled gravity on rizon 4s with grav.
shauryadNv
committed
c6e2e77
Fixed PD values.
shauryadNv
committed
63f6c32
Enabled action reward.
shauryadNv
committed
8c5b4a5
Zero wt for ee vs gear base reward terms.
shauryadNv
committed
5a1ccfe
Reverted PD values.
shauryadNv
committed
795c425
Non-zero wts for ee vs gear base reward terms.
shauryadNv
committed
955727a

Commits on Apr 7, 2026

Merge branch 'develop' into shauryad/flexiv_gear_insertion
AntoineRichard
authored
a306ebd
Debug tools by hardcoding.
shauryadNv
committed
ed163b7
Fixed decimation.
shauryadNv
committed
522aa75
Zero wt for ee vs gear base reward terms.
shauryadNv
committed
32d2eb4
Enabled gravity on robot and non-zero wts for ee vs gear base reward terms.
shauryadNv
committed
7f3238a
Fixed decimation.
shauryadNv
committed
3aee504
Disabled gravity on robot.
shauryadNv
committed
45f98c0
Added action reward.
shauryadNv
committed
2e6d49b
Zero wt for ee vs gear base reward terms.
shauryadNv
committed
8f81564

Commits on Apr 8, 2026

Commits on Apr 9, 2026

Reduced rotation obs noise from 2 to 1 degree.
shauryadNv
committed
d5075fd
Fixed ee vs gear base scheduling.
shauryadNv
committed
fffb386
Zero noise in rotation obs.
shauryadNv
committed
4dfee2d

Commits on Apr 10, 2026

2 degree rotation obs noise.
shauryadNv
committed
a0e2c41

Commits on Apr 14, 2026

update for robot position in hubble
ashwinvkNV
committed
a46ca14
update gear base posiiton based on new srand
ashwinvkNV
committed
b4651eb

Commits on Apr 16, 2026

Changed ee vs gear base reward terms scheduling for 512 envs.
shauryadNv
committed
b42ec43

Commits on Apr 24, 2026

Fixed gear base pose as per real world.
shauryadNv
committed
1ea97c6
Fixed gear base pose as per real world.
shauryadNv
committed
f2c380b

Commits on Apr 27, 2026

increase weight ramp steps to 512k for end effector base keypoint tracking for 256 envs
curiep
committed
b05d22d