RoboLab v0.3.2

Added

• Astranomy Direct-API and Codex Agent-EEF policy backends, with configurable
  model access, action representations, history selection, and inference logs.
• Optional episode context sent once before inference, allowing compatible
  policy clients to use video demonstrations for in-context learning (ICL).
• Object-counting task predicates, multiple tracked instruction fields, and
  support for multi-articulation end-effector recording and gripper labels.

Changed

• Cosmos3 supports full WebSocket URIs, optional Bearer authentication, and
  separate policy sessions for parallel environments. Cosmos3 and DreamZero
  share a MsgPack/NumPy WebSocket transport.
• Batched policy replans are divided into bounded per-request environment
  groups.

Fixed

• Ground meshes no longer occlude cleaning-scene backgrounds.
• Recorded subtask conditionals resolve correctly during replay.

RoboLab v0.3.1

Added

• Kinova Gen3 (Robotiq 2F-85) fixed-base support: robot config, joint-position
  environment registrations, and an example runner
  (examples/run_kinova_jointpos.py).
  (#23)
• Floor-standing robot support: a robot config can declare the
  root_z_above_ground label (the reach of its lowest colliders below the
  root), and the environment factory places the root on each task scene's
  authored ground plane plus that offset (docs/robots.md).
• Per-scene ground-height lock (tests/test_scene_ground.py): the task table
  is a dynamic rigid body resting on the ground plane, so the authored ground
  height sets the tabletop height and is now locked per scene.

Changed

• Every robot config must now declare the ee_recorder_bodies label mapping
  HDF5 channel names to the articulation bodies recorded for end-effector
  pose ({} opts out). Breaking for custom robot configs: environment
  generation fails with a ValueError naming the config until the label is
  added — see docs/robots.md#end-effector-pose-recording.
• Remaining task-scene ground planes aligned to the canonical -0.697 height;
  legacy scenes keep their original -0.65 ground to preserve replay
  compatibility with existing recordings.

RoboLab v0.3.0

Added

• Explicit coordinate-frame contract: end-effector observations are now
  published in the robot-root frame, with a compatibility shim for older
  recordings (robolab/core/logging/frame_compat.py) and a reference doc
  (docs/frames.md).
• Ground-truth state export during stepping: --enable-gt-state makes every
  runner emit a raw per-env world-state snapshot each step under
  obs["gt_state"] (robolab.eval.GroundTruthStateExporter; schema in
  docs/environment_run.md).
• VoLo policy backend (policies/volo/): a proxy wrapper over existing
  clients that adds depth observations, camera calibration, and ground-truth
  state metadata to the inference payload.
• Robot-owned scene fixtures with per-robot fixture selection
  (robolab/core/environments/scene_fixture.py): a robot config declares the
  table fixture it is mounted on (or none, for robots with their own base),
  and the environment factory swaps the task scene's default fixture
  accordingly.
• Multi-gripper support in the task conditional system: robots can declare
  named gripper groups (e.g. "gripper": ["left", "right"] on a bimanual
  robot), and success/failure predicates can target any member of a group or
  require several grippers simultaneously (see docs/task_conditionals.md
  and docs/event_tracking.md).
• Pull request template and documentation of accepted PR types in
  CONTRIBUTING.md.
• News section in the README and an ecosystem page (docs/ecosystem.md).

Fixed

• Explicitly-named tasks now resolve correctly from scoped content-pack
  folders.

RoboLab v0.2.1

Added

• Faithful replay of recorded episodes: new robolab/core/replay/ module with
  recorded env-config overlay, initial-state restore, and per-step state
  validation; driver script examples/run_recorded.py; user guide
  docs/replay.md. (#19)
• Batched inference support in the eval client interface.
• The pytest install-verification suite now ships in tests/ (documented
  fresh-install check: uv run pytest tests/).

Changed

• Subtask progress tracking is enabled by default during evaluation.
• Updated the GR00T N1.7 client.
  (#15)
• Overrode isaacsim's stale websockets==12.0 pin so uv lock resolves a
  modern websockets for the policy clients.

Fixed

• WorldState extras handling on IsaacLab 2.3 (XformPrimView).

RoboLab v0.2.0

Added

• IsaacSim 5.1 / IsaacLab 2.3 support alongside 5.0 / 2.2, selected via the
  mutually-exclusive isaac50 / isaac51 extras.
• Relative differential-IK environment registrations
  (examples/run_rel_ik_demo.py).
• Realtime/pathtracing RTX renderer selection via --rendering-type.
• Poly Haven attribution files for the curated backgrounds.

Changed

• Bundled backgrounds trimmed to a curated indoor set. More backgrounds can be obtained from Poly Haven.
• End-effector pose position is recorded in the env-local frame.
• Docs: asset contribution guidelines, conditionals
  restructure; generalized VRAM sizing guide.

Fixed

• HDF5 episode success is derived from terminated rather than a named
  termination term.

RoboLab v0.1.1

Added

• Cosmos3 policy client; refreshed DreamZero, GR00T, and Pi0-family clients.
• Results dashboard (robolab-dashboard CLI).
• /robolab-scenegen and /robolab-taskgen Claude Code skills.
• Convex-hull placement predicates, adaptive sampling, and DROID IK control.
• CONTRIBUTING.md and a uv-based install flow.

Changed

• Per-policy reorganization: one runner per backend under
  policies/<policy>/run.py.
• Docs revamp: per-policy READMEs, SPDX headers, THIRD_PARTY_NOTICES.md.
• Episode videos encoded as streaming H.264 (libx264) so they play in
  browsers.

Fixed

• Placement order enforced in then-sequenced tasks.
• Frozen-env data leaks in the episode recorder.

RoboLab v0.1.0

Initial public release: 100+ benchmark tasks,
DROID and Franka embodiments, server-client policy evaluation (Pi0 family,
GR00T, DreamZero), and HDF5 episode recording with analysis tools.