WIP: Connect Robot Modules#462

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arntanguy wants to merge 34 commits intojrl-umi3218:masterfrom

arntanguy:topic/ConnectModules

Commits on Jan 13, 2026

[mc_rbdyn] Allow to change a Device name after creation

gergondet
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arntanguy
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[mc_rbdyn] Add RobotModule::connect

gergondet
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arntanguy
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[mc_control] Handle gripper GUI in MCController

gergondet
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arntanguy
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[mc_control] Add overload for loadRobot without a shared pointer

gergondet
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arntanguy
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[mc_control] Move controller related GUI cleanup to ::stop

gergondet
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arntanguy
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[mc_rbdyn] Correctly update ref_joint_order in connect

gergondet
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arntanguy
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[mc_rbdyn] Keep mimic joints in RobotModule::conect

gergondet
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arntanguy
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[observers] Undo assumption that encoders size does not change in EncoderObserver

gergondet
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arntanguy
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[mc_rbdyn] Include collision objects in the connect method

gergondet
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arntanguy
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[mc_rbdyn] Support jerk limits in RobotModule::connect

gergondet
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arntanguy
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[mc_solver] Don't forward contacts with unuactuated robots to the solver

gergondet
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arntanguy
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[mc_rbdyn] Add RobotModule::disconnect

gergondet
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arntanguy
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[mc_rbdyn] Add a signal/slot mechanism for added/removed robot

gergondet
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arntanguy
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[ROS] Subscribe to the robot signals

gergondet
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arntanguy
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[pre-commit] Fix files in this branch

gergondet
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Add missing include

gergondet
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arntanguy
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Fix loading of canonical module

gergondet
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arntanguy
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[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
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arntanguy
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[mc_rbdyn] Use std::filesystem
arntanguy
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[mc_rbdyn] Chain calls to robot module connection parameters
arntanguy
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[ConnectModules] Set canonical representation to the merged module
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[mc_rbdyn] Allow nested calls to RobotLoader::get_robot_module
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WIP
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[mc_rbdyn/ConnectModules] Unset helper define
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[ConnectModules] Handle copying canonical module from connection result
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[mc_rbdyn] Use std::filesystem
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[mc_rbdyn] configuration_io use std::filesystem
arntanguy
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[schema][RobotModule] Add missing rsdf_dir
arntanguy
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[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
arntanguy
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fix(ConnectModules): Fix base transform for fixed joints
arntanguy
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fix(ConnectModules): Use urdf_path for _real_urdf
arntanguy
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feat(ConnectModules): Merge extra frames
arntanguy
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style(fix): fix fmt pre-commit
arntanguy
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Commits on Jan 15, 2026

feat(MCController): allow optional collisions
arntanguy
committed