v0.4.0

v0.4.0 (2025-05-12)

Feat

• sim camera: allow camera render on demand
• sim fr3: make convergence callback registration optional
• env: camera robot
• grasp_lab_demo: added second robot cam pose setter
• grasp_demo_lab: unified cube pose randomizer and separated the pose setter for the second robot
• grasp: pickup script for grasp added
• sim: separated grasp_demo script from the grasp_demo_lab script
• wrapper recorder: hdf5 gzip compression
• frame rate logger
• wrapper: added hdf5 recorder wrapper
• wrappers: storage wrapper delays action
• hw gripper: bool state and is moving
• hw gripper: async control for hardware gripper
• camera: added rate limiter
• added async for teleop
• added webcam live viewer and vla executer
• updated vive teleop to use controls and data recording
• added first osc implementation
• env: reward and success for simple pick up env
• env: random cube pos wrapper
• sim: sim wrapper env
• gym env: register envs in gym
• hw camera: record frames as mp4 video
• factories: added collision guard to factories and examples
• cli: info command to get current robot and gripper state
• hw/camera: option to wait for frames in buffer
• sim/camera: optional conversion to pyhsical units for depth camera in sim
• pose: read out total quat angle and set angle

Fix

• fr3 desk: error when circle is not in event dict
• env: type assertion and improved tests
• wrong automatic import and logger
• type linting issues
• env: moved close of control thread to hw env
• sim gui: increases max geoms in render gui
• hw fr3: default register convergence callback
• py lint: type annotations and imports
• sim: allow string path in tcp offset getter
• control: joint reset also sets controllers
• grasp_demo_lab: removed side camera feature and refactored
• sim: random cube placement in lab scene fixed
• merge: merge commit
• desk: remove guiding mode in move home
• hw camera: removed double video saving
• desk: cache token in case of program crash
• env gripper: remove same action ignore
• hw gripper: exception handling for franka hand, improved roboustness
• remove slow unnecessary flatten
• lock usage in camera
• async reset
• relative move move high freqency filter
• hw: joint controller torque limit
• rel env: relative limiting for origin set
• vive: collision guard
• lock usgage, controllers, remove unused code
• double reset segfault / fp error (Merge pull request #163 from utn-mi/krack/fix_double_reset)
• linting errors in examples and tests
• numpy < 2 compatibility
• env: binary gripper observation
• sim: reset sim
• collision guard: back compatibility truncate episode
• collision guard: hard sim update and identity action
• collision guard: updated gui visualization
• factories: default relative_to and max_realtive_movement type
• vive: the collision guard is no longer a bool, so updated it to default None
• realsense: properly stop camera
• examples: ik usage in fr3
• envs/colguard: order of sim env, gym interface and typing
• envs/gripper: avoid overwrite of collision
• sim/gripper: fixed is_moving and simplified callback schema
• sim: corrected reset observation
• envs: stop camera thread in camera env with close method
• support numpy versions < 2.0
• rel env last step default and gripper wrapper correct last step detection
• dot env in cli, panic activates guiding mode
• example, rel env: added last step relative to examples and fixed rel env
• rel env: improved relative limiting, avoiding clip

Refactor

• cli: remove remaing config functions
• control: remove vive and recorder app code
• sim envs: simple and lab pick up share more code
• lab env: flexible camera robot joint position
• envs: tcp extraction before env creation
• envs: move default configs to utils
• grasp_demo_lab: resolved pylint issues
• grasp_demo: refactored to correct linting issues
• grasp_demo: refactored to correct linting issues
• grasp_demo: refactored to correct linting issues
• wrappers: fixed gif and video generation for HDF5 data
• recorder wrapper: moved gif generation into own function
• storage wrapper: flag removed to simplify interface
• hw: zero torque guiding integrated into control thread flow
• hw: guiding mode configure DOFs
• hw control: async control in config
• proper rate limiter in vive
• hw: moved stop async control thread to reset
• hw camera: video recording in storage wrapper
• video frame is written every step
• vive: more conservative lock usage
• factories: same mjcf scene for sim collision guard
• cameraset: close method in cameraset interface
• env/gripper: better observation difference between binary and non binary gripper
• pose,rel env: limitation of rot and trans moved to cpp

[master e28dc46] bump: version 0.3.1 → 0.4.0
4 files changed, 115 insertions(+), 3 deletions(-)