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