Jin/taxim cleanup#319
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Co-authored-by: Copilot <copilot@github.com>
- fix rcs package name in extensions - added rcs as dependency in build process - improved robustness of downloading assets
- updated install instructions - updated licenses and readmes
Wire up the previously-undefined `scene`/`ROBOT_INSTANCE` names in the example scripts, drop unused imports, move the typer.Option default and the unnecessary else-after-return into ruff-compliant form, and add rule-specific noqa comments for the function-scoped torch/torchvision imports in the LeRobot joint converter.
Exclude examples/inference/franka.py from mypy to resolve a duplicate "franka" module clash with examples/teleop/franka.py (whose franka.py is the one example/teleop/quest_align_frame.py actually imports from). Make LimitedAbsoluteAction._get_current()'s return annotation honest (np.ndarray | common.Pose) since it returns a Pose in cartesian control modes, and add a cast at the one call site that lacked one. Add rule-specific type: ignore / noqa comments for the remaining cases where the underlying stubs don't match runtime behavior (FR3-only robot methods, duckdb's loosely-typed schema introspection, Optional fields that are known to be set, and the lerobot torch imports).
StorageWrapper._flush() inferred and permanently cached its pyarrow schema from whatever rows happened to be in the first flush. Since "action" is logged one step behind (frame 0 has no prior action), an unlucky first batch consisting only of that null action got pyarrow's null type pinned for the field forever, so every later batch with a real action value failed with "Invalid null value". Defer flushing until the buffered rows yield a schema with no null-typed fields instead of caching a too-eager guess. Separately, close() called _flush() and only sent the writer thread's stop sentinel afterwards, so any exception during that flush (such as the one above) left the background ThreadPoolExecutor thread blocked on an empty queue forever, hanging the whole process at interpreter exit. Wrap the flush in try/finally so the sentinel is always sent. Also add the include_rotation field quest.py now reads to the QuestOperator test config double, which test_consume_action_swaps_ gripper_with_controller was missing.
Upgrades composer to use mujoco==3.10.0
juelg
requested changes
Jul 14, 2026
juelg
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juelg
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Thanks, see comments below.
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| def _digit_model_path() -> Path: | ||
| return Path("/home/sbien/Documents/Development/V2T/mujoco-taxim/assets/robotiq_2f85/robotiq_2f85.xml") |
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Please remove absolute user paths
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Do we need this file, looks like a local development file for dev containers.
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So far we only have examples in the global examples folder, so to be consistent this file should go into examples/taxim/grasp_digit_demo.py
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Extension should be added here.
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we already have a dockerfile under the docker folder, so can this docker file perhaps be merged with the existing one?
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cleaned up rcs_taxim along with a working grasp example featuring the robotiq gripper.
Compatibility patch with mujoco 3.10.0 has been changed to use the most recent merged pull #317 instead of the local solution.
ran
make pytest/pylint/pyformatand verified the outputs.