bump: version 0.1.0 → 0.2.0

Author: github-actions[bot]

CHANGELOG.md

@@ -0,0 +1,190 @@
+## v0.2.0 (2024-09-13)
+
+### Feat
+
+- added non-env rcsss grasp example
+- **env**: parameterizable max movement in relative env
+- Added keyboard-based robot teleoperation
+- typed factories and tests for gym envs (#81)
+- **sim**: finger in gripper collisions and ignored geoms (#117)
+- add ring buffer for hardware cams
+- **env**: avoid execution of zero action on the robot
+- gripper in teleoperation
+- cart. control mode wrapping in collision guard env
+- collision guard forwards joint ik values
+- tcp offset with constant function in cpp
+- **cpp::hw**: tcp offset and rl inverse kinematics
+- **rcsss**: added live plotter for robot poses
+- **envs**: added set_origin method to relative space
+- random movement example on real robot
+- fci context manager supports lock
+- binary gripper wrapper flag
+- **cli**: passive fci command that takes and maintains control
+- **sim**: added is_coverged to stub files, added to gym env info dict
+- **sim**: is_converged method and max_convergence_steps to avoid stucking
+- bump my version release management tool
+- Pose constructors with identity rotation/translation
+- **env**: added option to avoid checking collision when moving home in CollisionGuard
+- **env**: added collisionguard env
+- added inital observation to relative action space wrapper
+- Franka Hand in Mujoco Simulation
+- Change of Abstract Robot and Gripper Interfaces
+- **env**: Implemented quaternion actions
+- **py::cam**: per camera config in python
+- **cpp::cam**: added multi cam config support
+- **cpp::camera**: using option from renderer
+- **cpp::cam**: added camera init and render code
+- **envs**: Gym space annotated observation and action types
+- **cpp::pose**: added xyzrpy fun to pose
+- new env wrapper classes and env cleanup
+- **cpp::cam**: added scene to render callback
+- **cam**: added timestamp to simcamset
+- **cam**: added bindings for sim camera set
+- **cam**: Base camera sim impl. in cpp
+
+### Fix
+
+- broken desk path
+- refactored fr3 desk paths
+- **camera**: check for running thread in hardware cameras
+- cpp linting errors
+- **examples**: resource manager and tcp offset
+- **examples**: env_joint_control import name
+- **env**: read gripper state instead of cache
+- **examples**: credentials usage and contex manager
+- added missing dependency for examples
+- **cpp::sim**: respect col vs row major in cartesian readout in mjc
+- **factories**: camera in coll guard, relative env usage
+- **camera**: Create camera configuration before calling the base class constructor
+- **camera**: Store the number of elements in the ring buffer to handle cases when the buffer is not full yet
+- **vive**: Removed nested with statement and fixed formatting
+- Prevent random restarts and set precision in RL IK
+- **env**: Set threshold for comparing actions with np.allclose
+- **vive**: Fixed calculation of relative rotation and enabled live plot with a non-blocking socket
+- **env**: import of sim
+- sim gripper collision in state (#118)
+- **env**: access non existing var in grasping env
+- **cpp::sim**: mj quat format
+- **env**: added missing rpy class to array conversion
+- **env**: computation of trpy action in relative environment
+- bump to latest pybind version
+- numpy version fixed to 2.0
+- **pose**: fixed rpy output
+- **env**: binary gripper return value
+- **config**: added camera type to sample config
+- type hinting hw camera set
+- transpose tcp offset
+- style and linting, FrankaHandTCPOffset returning matrix
+- **vive**: gil release and tcp offset
+- **vive**: fixed transforms and added live plotting code
+- **common**: use extrinsic Euler angles in xyz format
+- **sim**: calculation of the TCP offset
+- **rel env**: order of diff pose multiplication
+- **vive**: button press logic and pose calculation
+- mypy lint issues
+- **sim**: convergence detection (#106)
+- **cpp**: removed isapprox for isclose comparisons (#105)
+- **sim**: max convergence steps logic (#104)
+- pose tests to use pose_matrix arg
+- quaternion typo
+- **pose**: calculation of pose concatination
+- **pose**: inversion
+- **docs**: Added missing deps
+- updated models git submodule version
+- etils version for python 3.10
+- resolved mypy typing issues
+- wrong ellipsis in stub files
+- cpp linting
+- **env**: removed usage of depricated .env
+- RelativeActionSpace Wrapper can have arbitrary wrap order
+- **envs**: copy observations and actions
+- removed wrong basecameraconfig imports
+- quaterion normalization in pose constructor
+- **stub**: numpy shape generation in stub file for dynamic sized vectors
+- relative env fixed max movement
+- config generation of multi cam sim config
+- **cpp::cam**: import and deconstructor order
+- **cpp::camera**: Return types of framesets, pass of camera name to poll fun
+- **cpp::camera**: changed storage types and fixed deconstructor
+- **camera**: hand over from cpp to python
+- **envs**: type checking with existance of keys in dict
+- **cam**: stub files, bindings and sim exports
+
+### Refactor
+
+- method to load credentials and linting fixes
+- fixed import paths for control folder
+- hw franaka hand use reset method for init
+- env use robot reset method
+- **examples**: renamed env example files
+- **env**: moved examples into own folder #111 and simplified them
+- **envs**: extracted two example methods in hw env
+- **vive**: format and refactored hw and sim in two methods
+
+## v0.1.0 (2024-06-28)
+
+### Feat
+
+- **env**: CameraSet Gym Env
+- **cli**: testing cli for realsense
+- **camera**: added draft impl. for realsense
+- **env**: CameraSet Gym Env
+- **cli**: testing cli for realsense
+- **camera**: added draft impl. for realsense
+- **gitlab-ci**: added gitlab ci and gitlab runner docker file
+- **unittests**: inital setup for unittests - initial directory setup for unittests - wrote a dummy test for pose Interpolation method
+- **unittests**: inital setup for unittests - initial directory setup for unittests - wrote a dummy test for pose Interpolation method
+- **unittests**: inital setup for unittests - initial directory setup for unittests - wrote a dummy test for pose Interpolation method
+- **cpp::Pose**: added new rpy as vector constructor
+- **envs**: added sim and hw envs
+- **py::record**: tj recording with FR3 buttons
+- **bindings**: moved franka exceptions into own submodule
+- **bindings**: added franka exception translation
+- **bindings**: covariant return type functions in bindings
+- **cpp**: extended pose and rpy with new methods
+- **cpp**: added pickle support for pose and rpy cpp types
+- **config**: cli tool to generate sample config
+- **rcsss**: added kinect camera support
+- **rcsss**: auto generation of stub files
+- **CI pipeline**: python lint, format and build, apt cache
+- **hw**: added config arg in the initializer
+- **hw**: Implemented gripper interface
+- **hw**: Implemented robot interface
+- **common**: Improved robot interface
+- **common**: added rotation matrix to rpy struct
+- **common**: Added python bindings
+- **cpp::common**: Added N robots class
+- **cpp**: robot and gripper interfaces, eigen definition in common
+- **common**: added python bindings for pose
+
+### Fix
+
+- **gym**: reset method typing and _get_obs method
+- **camera**: linter issues and gym env
+- **realsense**: working draft
+- **gym**: reset method typing and _get_obs method
+- **camera**: linter issues and gym env
+- **pipeline**: merged build and stubgen
+- **core arch**: removed set_parameters in base robot class
+- **realsense**: working draft
+- **pose**: fixed is_close function, see #52
+- **envs**: fixed type hinting with type alias
+- **types**: mypy env type checking
+- **stubs**: wrong vector stubs
+- **desk**: config, take control and cli
+- **bindings**: readded pybind trampoline
+- **desk**: Bugs found when tested on the hardware
+- **bindings**: Using default unique_ptr as holder for configs
+- **py:camera**: convert c types to np array
+- **CI**: mypy type check fixes
+- **pybind**: Add config and state struct constructors
+- **stubs**: added latest stub files
+- **lint**: change stubgen to match mypy expectations
+- **CI**: mypy install types
+- **record.py**: mypy type complains, new rcs interface
+- **py**: linting and formatting errors
+- **py::desk**: linter errors
+- **rcsss**: python module import
+- **common**: added missing unique_ptr in n robots
+- **cmake**: Adapted and fixed cmakelists files
+- **hw::FR3**: Fixed inertia datatype and set para func

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.19)
 project(
     rcs
     LANGUAGES C CXX
-    VERSION 0.1.0
+    VERSION 0.2.0
     DESCRIPTION "UTNs Robot Control Stack Library"
 )
 

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "rcsss"
-version = "0.1.0"
+version = "0.2.0"
 description="Python Interface for libfranka to control the Franka Research 3 Robot"
 dependencies = ["websockets>=11.0",
     "requests~=2.31",

python/rcsss/_core/__init__.pyi

@@ -16,4 +16,4 @@ from __future__ import annotations
 from . import common, hw, sim
 
 __all__ = ["common", "hw", "sim"]
-__version__: str = "0.1.0"
+__version__: str = "0.2.0"