Changelog#

v0.5.2 (2025-10-09)#

Features#

  • Added OMPL example and cleaned up OMPL code.

v0.5.1 (2025-09-29)#

Fixes#

  • Fixed RCS versioning in extensions.

v0.5.0 (2025-09-26)#

Features#

  • Extensions: Refactored Robotics Library IK into its own extension.

  • Simulation: Added support for async and realtime mode in SimConfig.

  • Environment: Added new environment creators for diffpol and agent evaluation.

  • Hardware: Added digital twin support for xArm and initial support for SO101.

  • Docker: Added full Docker support with GPU acceleration.

  • Kinematics: Added Pinocchio IK support with MJCF.

  • Calibration: Added full calibration support and cache for RealSense.

Fixes#

  • Fixed async joint control mode.

  • Fixed random object orientation setting.

  • Resolved various simulation issues (joint/actuator confusion, robot IDs).

v0.4.0 (2025-05-12)#

Features#

  • Recording: Added HDF5 recorder wrapper with gzip compression.

  • Teleoperation: Added async support for teleoperation and webcam live viewer.

  • Environment: Added collision guard and random cube placement wrapper.

  • Camera: Added video recording support and rate limiter.

Fixes#

  • Fixed FR3 desk errors.

  • Improved environment type assertions and tests.

  • Fixed simulation GUI rendering limits.

v0.3.1 (2024-10-02)#

Fixes#

  • Fixed optional IK bug and FR3 example.

v0.3.0 (2024-10-02)#

Features#

  • Simulation: Added interactive sim viewer in a separate process.

  • GUI: Refactored GUI with base class and added MuJoCo UI library.

Fixes#

  • Fixed missing depth data in camera environment.

v0.2.2 (2024-10-01)#

Features#

  • Added depth data to CameraSetWrapper.

Fixes#

  • Fixed RGB+Depth mode in camera environment.

v0.2.1 (2024-09-13)#

Fixes#

  • Fixed imports and max movement in examples.

v0.2.0 (2024-09-13)#

Features#

  • Teleoperation: Added keyboard-based robot teleoperation.

  • Camera: Added ring buffer for hardware cameras.

  • Environment: Added collision guard environment and parameterizable max movement.

  • Tools: Added live plotter for robot poses.

Fixes#

  • Fixed desk path issues.

  • Fixed camera thread checks.

  • Resolved various linting and type hinting issues.

v0.1.0 (2024-06-28)#

Features#

  • Initial release of RCS.

  • Environment: Added CameraSet Gym Env.

  • Hardware: Added support for RealSense cameras and basic robot/gripper interfaces.

  • CI: Added CI pipeline with linting and testing.