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UR5 Integration and Pinocchio MJCF IK #197

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juelg wants to merge 9 commits into from
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UR5 Integration and Pinocchio MJCF IK #197

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ab113b2
feat(robots): added ur5e mujoco scene
juelg Jun 27, 2025
e5edae4
feat: added ur5e sim example
juelg Jun 27, 2025
75f160a
fix(models): proper gravity compensation
juelg Jun 30, 2025
dfb7167
refactor: replaced hard coded fr3.urdf with robot.urdf
juelg Jun 30, 2025
4ec2b15
fix(models): rotation of UR5e and style python
juelg Jun 30, 2025
6392519
refactor: add assets to git lfs
juelg Jun 30, 2025
c3fa76c
feat: added so101 mujoco files
juelg Jul 1, 2025
baee473
fix(gripper): joint value calculation
juelg Jul 1, 2025
85446b1
temp
juelg Jul 16, 2025
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4 changes: 2 additions & 2 deletions .gitattributes
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Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
.stl filter=lfs diff=lfs merge=lfs -text
.obj filter=lfs diff=lfs merge=lfs -text
*.stl filter=lfs diff=lfs merge=lfs -text
*.obj filter=lfs diff=lfs merge=lfs -text
3 changes: 3 additions & 0 deletions Makefile
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Expand Up @@ -5,14 +5,17 @@ COMPILE_MODE = Release
# CPP
cppcheckformat:
clang-format --dry-run -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
clang-format --dry-run -Werror -i $(shell find include -name '*.cpp' -o -name '*.cc' -o -name '*.h')
clang-format --dry-run -Werror -i $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -o -name '*.h')

cppformat:
clang-format -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
clang-format -Werror -i $(shell find include -name '*.cpp' -o -name '*.cc' -o -name '*.h')
clang-format -Werror -i $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -o -name '*.h')

cpplint:
clang-tidy -p=build --warnings-as-errors='*' $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -name '*.h')
clang-tidy -p=build --warnings-as-errors='*' $(shell find include -name '*.cpp' -o -name '*.cc' -name '*.h')

# import errors
# clang-tidy -p=build --warnings-as-errors='*' $(shell find extensions/rcs_fr3/src -name '*.cpp' -o -name '*.cc' -name '*.h')
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