v0.5.0

v0.5.0 (2025-09-26)

Feat

• refactor robotics library ik into own extension
• sim: sim config support for async and realtime mode
• install: copy scene files into install folder
• add random object pos to task env creator
• added a configurable RandomObjectPos wrapper for flexible object placement in collector
• add async control
• add new env creator for diffpol evaluation, refactor existing one's camera creation logic
• xarm: include depth in xarm realsense recording
• added new envcreator for agent evaluation
• pretty xarm
• twin grasp
• added digital twin for xarm
• grasp demo
• working real setup integration
• add logic for init using either gripper or hand
• add the simple hw tilburg test script
• add an example for robot with hand
• added an option for simulating hand
• added default config for sim tilburg hand
• added a HandWrapperSim
• stubgen for SimTilburgHand
• pybind for SimTilburgHand
• added a basic compiling sim tilburg hand
• added a grasp type enum for the hand
• added mjcf xarm7
• cartesian control
• add xArm7 extension
• calibration cache for realsense
• docker compose restructure
• docker compose add-ons
• docker Added full working command wih hardware acess
• docker add optional flags for running the container with hardware access:
• docker enhance docker file user command cpu and gpu
• docker add gpu support
• docker image for rcs
• work in progress: initial working docker
• rcs: docker development
• Added cartesian pose support for planning This calls the RobotEnv's ik function internally.
• Added basic joint-level OMPL
• full calibration support
• env: allow nested space types
• sim: intrinsic and extrinsic as additional camera data
• mjcf support in pinoccio ik
• ik: added pinocchio ik
• added stub files for rcs_fr3
• added findrcs.cmake to fr3 and used rcs instead of common
• added initial cmake structure for fr3
• sim: allow sim gripper to have arbitrary min max vals
• so101: config for sim mode
• hw: added hw support for so101
• ik: add kinematics forward function
• gripper: adds is_grapsed and width to info dict
• env: made reset optional
• envs: support for control of multiple robots
• improve pick cube reward
• pyproject.toml: add digit-interface to pyproject.toml
• examples digit_cam envs: working on digit integration
• hand: enable Binary and vector action

Fix

• mode for async joint control and move_home
• RandomObjectPos include setting orientation
• bindings: robot and gripper interface with init function
• tilburg hand usage of generic sized array
• remove repeated robot_cfg
• change to trajectory planning mode
• model: actuatorgravcomp in xarm
• sim: confusion of joint and actuator values
• sim: fixed length simrobot ids
• data class import in init
• remove tcp offset from franka
• seg fault in examples
• relative path for scences
• call proper setter function
• sim: tcp offset in robot mjcf
• ik: pinocchio ik with mjcf
• account for binary case
• change hard-coded value orders to match hardware
• consistent function name
• add SimTIlburgHand to exported stuff
• syntax consistency
• README: fix docker x acces command
• sim: tcp offset in robot mjcf
• ik: pinocchio ik with mjcf
• mypy errors
• pyformat and pylint changes
• make ompl path result into a list of np arrays for better compat
• sim: camera render image mixup
• calibration: april tag offset and not visible msg
• cam: depth scaling corrected
• sim camera: remove framerate for direct camera render flag
• cmake: added pinocchio link dep
• implicit numpy version bumping and stubfiles
• cmake: added pinocchio parsers
• pinocchio ik to use custom frame
• fr3: pybind rcs module refs
• cycle import problem
• rcs and rcs_fr3 compile
• realsense structure
• digit: remove property in digit config
• franka hand: remove slow stopping
• cli: remove refactor left over
• hw camera: recording doesnt block lock, clear buffer waits for frames
• examples envs: make digit_cam work with hardware instead of simulation
• envs:
• hand: fix grasp mechanism after refactoring
• env creators: gripper config types
• examples: import of hand example
• remaining qarts renamed
• imports for renamed rcs package
• env: fix some of the requersted changes
• hand: make default value in TilburgHandControl class instead of HandControl class
• hand: add get_pos_vector and set_pos_vector to Handcontol class

Refactor

• rename ik into kinematics and inverse
• rename set and get parameters to config
• removed get tcp offset from mjcf utility
• envs: renamed binary hand key to gripper
• proper scene configuration
• added mjcf and kinematics path to robot config
• scene and kinematic file usage
• introduce close method for cleanup
• env: gripper wrapper non private gripper
• calibration with list instead of queue
• camera: calibration interface change
• move xtrinsics into calibration
• move examples into top level
• compatility with current master
• ik: abstract ik class with rl subclass
• fr3: moved stubs to correct location
• rename extensions with rcs prefix
• rcs headers in own include folder, header copy and fr3 rcs renaming
• build shared librcs
• removed hw module from bindings and python code
• seperate hardware extensions
• fr3: moved env creators and utils for fr3 module
• fr3: moved envs in fr3 module
• fr3 module with desk in it
• moved realsense into its own module
• sim: generalize gripper to use a single joint
• removed lab specific wrappers
• sim: gui loop to use simple frame rate
• moved frame rate and improved time tacking
• moved sim into own folder
• Remove private scenes, add public assets (#182)
• camera: hardware camera with composition and digit as camera
• camera: config and camera set
• replace pydantic with dataclasses
• digit: moved digit to camera folder
• gym sim: removed fr3 from sim wrapper
• gripper: id fill method and gripper with id
• robot ids: move ids to config
• robot ids: ids must match in config
• mujoco attributes in config
• stubs and ik solver rename to fit rcs package
• renamed imports and all other occurrences rcsss -> rcs
• renamed rcsss python folder to rcs
• renamed bindings file to rcs.cpp
• traj interpolator in same style
• Flexible dof and robot meta config
• rename FR3Env to RobotEnv
• renaming of env creator classes
• rename rcs sim classes in python
• rename sim robot classes pybind
• cpp: sim independent of robot type
• removed unused robotwithgripper class
• rename motion generator
• rename quart to quat
• env: factory functions into env creators
• env: renamed factories to creators
• rename resource manager to context manager
• remove unused n robots class
• removed unsued recordings
• control: remove app code
• env: sim specific gripper func into own wrapper
• hand: previous renaming in code
• hand: rename to remove control in name
• hand: python protocol interface
• examples: pyformat, pylint and pytest
• examples:
• envs: fix pyformat, pylint and pytest
• envs, hand, examples: address the requested changes
• hand: beteter handling of default grasp value and add tilburg-hand library to requieremnts_dev.txt
• hand: fix pyformat, pylint and pytest
• hand: fix pyformat, pylint and pytest

[master 36ed919] bump: version 0.4.0 → 0.5.0
8 files changed, 200 insertions(+), 7 deletions(-)