Drive the Trossen station from the leader arm beside it - #703

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DarksaCY wants to merge 77 commits into

Positronic-Robotics:mainfrom

DarksaCY:trossen-leader

Commits on Aug 27, 2026

Add `trossen` and `realsense` extras
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25f1dee
Keep an input source with no gamepad out of the button stream
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3d4216f
Add the Trossen WidowX AI arm driver
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ddacc32
Saturate the grip the Trossen arm reports to the range its port carries
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4b5af61
Read the controller clock to tell a dropped link from a quiet one
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cd3aa37
Say what a dropped link leaves the Trossen driver in
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7c56d36
Open a new session with the Trossen arm when the link goes down
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fbabf3c
Take Cartesian commands on the Trossen arm
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c48b48a
Measure the Cartesian step cap against the arm, not the last target
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a86a36e
Let the Trossen fake answer for the controller's error information
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64ea660
Interpolate a streamed Trossen setpoint across the tick it spans
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7474cdd
Stand the Trossen driver down before a joint reaches its own limit
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42ad0bc
Solve the Trossen arm's kinematics in the driver
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aea24ed
Keep a Trossen Cartesian target in the shape the arm is already in
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3abc4b5
Put the Trossen model on a lit ground plane
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0c4a207
Say when a Trossen joint reads outside the range the controller reports
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49b6f42
Take the arm's own following error out of the Trossen driver's loops
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5d3d119
Let the Trossen firmware plan the moves somebody waits on
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bf51816
Collect data on the Trossen arm from a Quest
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84cbc03
Read a RealSense camera
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8a244c1
Say which controllers a WebXR payload can leave out
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f00db89
Write the RealSense driver text in Simplified Technical English
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efb8fcf
Let a camera frame reach the headset under `spawn`
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6d48b69
Say when teleoperation starts and when the arm holds still
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f180734
Say once that the arm cannot follow the poses it is given
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5143389
Say nothing from a control system the operator interrupts
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078efc4
Let a streamed target ask the arm for the error it holds itself up with
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c845f15
Turn the end effector against an arm that sags
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3fafb3e
Say that the Trossen operator stands in front of the arm
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c541aad

Commits on Aug 28, 2026

Hold the viewer scene back until the simulator work
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ae5ac37
Take the camera out of the Trossen station
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5de6870
Refuse a controller that cannot drive the arm
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5aedd35
Name the robot the same way in every driver
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798ca04
Put each Trossen helper beside what uses it
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130f15e
Put the streamed goal time back to one tick
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7b4e67f
Give a Linux video frame the shape the other cameras give
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f38a7a3
Drop a video buffer that arrives short of a frame
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13d9faf
Name the four cameras of the Trossen station
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1537579
Show the Trossen station its cameras again
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cc43bfa
Let a vendor that cannot load stand in for one that is absent
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2473f5a
Let a connection wrapper change the type it carries
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6a42261
Keep the video library's ioctl log out of a debug run
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5a8bafe
Say that an interrupt tore a queue's connection
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ec97d66
Let the end effector turn as readily as it moves
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c17528b
Say that the Trossen operator stands behind the arm
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387ef80
Ask a streamed setpoint for a tenth of each joint's limit again
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d3c60e3
Stop a process that took an interrupt from reading its neighbours' messages
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979b097
Take the hand's own shake out of what the arm follows
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ed67010

Commits on Sep 2, 2026

Read a Trossen arm the operator holds as a teleoperation source
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9d56018
Record an episode the leader arm drives
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05fdae3
Take the leader to the start pose with its follower
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d7d8a63
Drop what the rig reported while it travelled
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9766a67
Ask a device for the setpoint it is streamed now
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d61abb9
Take the gripper friction off the operator's hand
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9b4a76a
Give the station's leader the gripper friction it was tuned to
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d18d48d
Let a streamed setpoint ask for three tenths of a joint's speed
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58bf2de
Let a policy drive the Trossen station
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15eecb7
Serve a checkpoint trained on the station's own codec
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4029f8e
Take the station's branch to current main
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b56d4c8

Commits on Sep 3, 2026

Take the review of the leader station
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fe5734f

Commits on Sep 7, 2026

Commits on Sep 8, 2026

Walk out the travel a Cartesian delta asks for
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fef8bc7
Answer the review round the rebase brought
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17719ae
Pace the fingers, clip a leader goal, and drop a pose that is not a number
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f3da6d9
Let the anchor go when the arm stands down
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7d1d186
Drop the fake SDK method nothing calls
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fe66bf7
Let the fake device record itself when it is opened
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23c595f
Take what the arm PR settled: the model, the home travel, and taking control
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e2f2f7f
Name the mesh dictionary once, and pin the two models against each other
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28f43f0
Give the panda mesh names a type sorted can order
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70abd19