v0.5.2

v0.5.2 (2025-10-09)

Feat

• added example for ompl and cleaned up ompl code

[master 1a19671] bump: version 0.5.1 → 0.5.2
13 files changed, 18 insertions(+), 12 deletions(-)

v0.5.1

v0.5.1 (2025-09-29)

Fix

• extensions: rcs versions

[master b522557] bump: version 0.5.0 → 0.5.1
13 files changed, 18 insertions(+), 12 deletions(-)

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(-)

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(-)

v0.3.1

v0.3.1 (2024-10-02)

Fix

• ik: ik optional bug and fr3 example

[master 0637afe] bump: version 0.3.0 → 0.3.1
4 files changed, 9 insertions(+), 3 deletions(-)

v0.3.0

v0.3.0 (2024-10-02)

Feat

• sim: Interactive sim viewer in separate process
• gui: refactor with base class
• gui: GuiServer & GuiClient class skeletons
• gui: add mujoco ui library

Fix

• camera env: missing depth data when depth enabled
• remove doubly registered collision callback

Refactor

• vive: using factory functions to create envs
• sim: simulation to use refactored ik
• ik: moved rl ik into common, removed rl deps in hw

[master 93523a0] bump: version 0.2.2 → 0.3.0
4 files changed, 23 insertions(+), 3 deletions(-)

v0.2.2

v0.2.2 (2024-10-01)

Feat

• rcsss/envs/base.py: adding the depth data to the CameraSetWrapper
• src/sim/camera.cpp: added depth image data to the frameset

Fix

• camera env: rgb+depth mode
• sim camera: using defined keys in env not id
• python/rcsss/_core/sim.pyi: updated missing pyi file

Refactor

• env camera: fix linting, remove dict merge, assert available depth
• camera env: correct handling of rgb and optional depth
• camera: improved variable naming
• rcsss/camera/sim.py: asserting that rgb and depth info come from the same camera
• python/rcsss/camera/sim.py: pylint fixes

[master ae373b3] bump: version 0.2.1 → 0.2.2
4 files changed, 24 insertions(+), 3 deletions(-)

v0.2.1

v0.2.1 (2024-09-13)

Fix

• examples: desk import and max movement

[master 4b650e5] bump: version 0.2.0 → 0.2.1
4 files changed, 9 insertions(+), 3 deletions(-)

v0.2.0

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

[master 8dfeeea] bump: version 0.1.0 → 0.2.0
4 files changed, 193 insertions(+), 3 deletions(-)
create mode 100644 CHANGELOG.md