RCS 0.7.0 is a big step toward a cleaner and more capable sim-to-real workflow.
This release unifies the env/scene configuration API across robots, adds MuJoCo state recording and replay for deterministic rerendering and dynamic-joint playback, and expands the data pipeline with dataset inspection, conversion, and parquet replay tooling. It also adds ZED camera support, improves the operator/teleop stack, and ships much better versioned documentation.
Highlights
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Unified env/scene API across robots
- scene and config handling is now much more consistent
- base environments are platform-based
- device ids are passed through config
-
Simulation recording and replay
- record and replay MuJoCo state
- replay trajectories from dynamic joint state
- better replay and rerendering workflows for datasets
-
Dataset tooling
- dataset inspection utilities
- converter CLI for recorded data
- parquet replay CLI for sim rerendering
- LeRobot conversion and replayer fixes
-
Cameras and teleoperation
- new ZED camera extension and viewer CLIs
- operator interface improvements
- latest IRIS compatibility updates
- Quest / teleop quality-of-life improvements
- Robotiq async support and config improvements
-
Documentation
- versioned docs publishing
- cleaned up docs structure and navigation
- new conventions and scene configuration guides
Upgrade notes
This release includes API and config refactors, so users upgrading from 0.6.x should check the updated scene/config docs and examples before migrating existing setups.
PRs
- fix(franka): error forward to python by @juelg in #261
- feat(franka): option for tcp in desk by @juelg in #262
- refactor(core): mjb in scene dict optional by @juelg in #265
- style(linting): fix linting in scene dict by @juelg in #266
- feat(robotiq): async support and config by @juelg in #267
- feat: operator interface by @juelg in #264
- refactor(envs)!: base environment is now platform based by @juelg in #274
- refactor!: device ids are now passed through the config by @juelg in #276
- refactor!: unify env/scenes API across robots and restructure assets by @juelg in #283
- docs: clean up docs structure and navigation by @juelg in #278
- docs: publish versioned documentation by @juelg in #285
- docs: keep selected docs version in switcher by @juelg in #286
- feat(cameras): add ZED camera extension and RGB viewer CLIs by @juelg in #277
- fix(sim): close_gui segfault by @juelg in #290
- feat(sim): record and replay MuJoCo state by @juelg in #280
- feat: remove double sleep and absolute actions by @juelg in #293
- feat: add parquet replay CLI for sim rerendering by @juelg in #294
- feat(recording): dataset inspection and conversion by @juelg in #297
- chore: adapt latest iris version by @juelg in #298
- lerobot conversion and replayer fixes by @juelg in #299
- feat(sim): replay trajectories from dynamic joint state by @juelg in #300
- docs: add conventions and scene configuration guides by @juelg in #302
Full Changelog: v0.6.3...v0.7.0
