v0.6.0
v0.6.0 (2026-01-23)
Feat
- more precise is_grasped and rewards for pick cube
- fr3: frankik integration for analytical fast franka ik
- pybind trampoline and constructor for kinematics
- readded robotiq gripper for ur5e in sim
- adds franka state bindings and and state observation (#241)
- teleop meta quest #240
- adds digital twin and quest frame aligner
- teleop: recording logic and digital twin
- digital twin wrapper
- recorder: add delayed action
- recorder: success attribute
- storage wrapper added recording logic
- storage wrapper for parquet recording
- add multi robot sim wrapper
- added iris teleop script
- teleop with meta quest
- more flexible ik for 5 dof so101 (#230)
- extensions: support for franka emika panda robot #222
- added desk and cli tool to panda
- extensions: symlinked fr3 code to panda to avoid code duplication
- extensions: added panda mjcf files for mujoco sim
- extensions: initial support for franka emika panda robot
- hw: added UR5 python package
- UR5 mjcf
Fix
- teleop: moving while reset
- fr3: remove robot_mode to allow recording
- storage wrapper: avoid data loss when crash
- fr3,panda: robot state
- storage wrapper: record and pause logic, depth compression
- hot fix fr3 broken robot state
- fr3 frankik ik
- ur5e sim example
- fr3: resetting behavior
- recorder: uuid partioning, added instruction
- teleop: multi robot env and iris
- sim: allow scene path fallback
- fr3 and panda init (#238)
- sim: fix collision detection and improve gripper/robot reset (#231)
- fr3,panda: franka control and franka hand proper close (#229)
- extensions: missing franka config constructor (#227)
- mujoco not found in make commands
- panda: using FR3 class name for linting and ik
- panda: compile old libfranka version with c++17
- panda: symlink between panda and fr3
- removed double rcs_fr3 module
- panda: remove robotics library and add libfranka cpp20 compilation
- fr3: removed robotics library refactor left over
- sim: hard reset replaced with soft reset
Refactor
- move tacto frames into camera frames
- fr3: multi env with dicts (#226)
- rename fr3 class to franka
- rename fr3 to panda
- rename files to panda
[master 5244918] bump: version 0.5.2 → 0.6.0
21 files changed, 91 insertions(+), 27 deletions(-)