v0.1.0

What's Changed

• feat(rne_ai): mobile pick observations, base lock, and mm_mobile IK by @rsasaki0109 in #28
• feat(rne_ai): heading-based mobile drive and IK clutter approach by @rsasaki0109 in #30
• feat(rne_ai): complete mobile clutter navigate-grasp-place E2E by @rsasaki0109 in #31
• fix(rne_ai): stabilize mm_minimal settle physics and remove linux gates by @rsasaki0109 in #32
• feat(rl): mobile clutter CEM + PPO bench smokes (v0.13 Phase C) by @rsasaki0109 in #33
• release: v0.13.0 by @rsasaki0109 in #34
• test(dynamics): analytic-reference dynamics validation suite by @rsasaki0109 in #37
• feat(urdf): external URDF ingestion — SO-101, LeKiwi base, cart by @rsasaki0109 in #38
• feat(web): browser wasm viewer MVP by @rsasaki0109 in #36
• feat(rne_ai): two-finger grasp gating with weld-anchor retarget (v0.14 Phase A) by @rsasaki0109 in #35
• fix(rne_ai): grasped-object forward standoff (README hero clipping) by @rsasaki0109 in #39
• fix(examples): correct hero carry standoff for elbow-observation offset by @rsasaki0109 in #40
• fix(examples): arc the hero pick lift over the arm instead of rushing it by @rsasaki0109 in #41
• fix(examples): grasp the hero cube with real physics instead of keyframes by @rsasaki0109 in #42
• fix(rne_ai): damp mm_mobile arm servo sway with a stiff uncommanded hold by @rsasaki0109 in #43
• docs(roadmap): mark v0.14 Phase A grasp visual realism done by @rsasaki0109 in #44
• ci(ros2): fix red rne_ros2_bridge / rne_ros2_node jobs (missing simulation_interfaces) by @rsasaki0109 in #45
• feat(rne_ai): friction-based grasp core behind opt-in GraspMode (v0.14 Phase B) by @rsasaki0109 in #46
• Add typed robot behavior CI by @rsasaki0109 in #47
• Add PLATEAU CityGML import and traversal GIFs by @rsasaki0109 in #48
• Add PLATEAU road lanes and Ackermann traffic by @rsasaki0109 in #49
• Improve PLATEAU city-drive visual realism by @rsasaki0109 in #50
• Improve PLATEAU city-driving cinematic realism by @rsasaki0109 in #51
• Add PLATEAU LOD2 appearance texture rendering by @rsasaki0109 in #52
• Import official PLATEAU Sanjo drive demo by @rsasaki0109 in #53
• Add directional shadow maps by @rsasaki0109 in #54
• Add realistic PLATEAU traffic vehicles by @rsasaki0109 in #55
• Add PLATEAU streetscape grounding by @rsasaki0109 in #56
• Add signalized PLATEAU turn by @rsasaki0109 in #57
• Add traffic domain foundation by @rsasaki0109 in #58
• Add deterministic traffic asset schema v1 by @rsasaki0109 in #59
• Import PLATEAU road semantics by @rsasaki0109 in #60
• Build deterministic traffic topology by @rsasaki0109 in #61
• Add deterministic urban traffic replay by @rsasaki0109 in #62
• Stabilize mobile clutter CEM smoke by @rsasaki0109 in #63
• Build official Sanjo 100-vehicle traffic pipeline by @rsasaki0109 in #64
• Add deterministic multi-route Sanjo urban traffic by @rsasaki0109 in #65
• Add physics-aware LiDAR to Sanjo traffic by @rsasaki0109 in #66
• Add physics-aware camera sensor model by @rsasaki0109 in #67
• Physics-aware IMU, ray drop, vehicle dynamics, and controller evaluation by @rsasaki0109 in #68
• Parallelize CI into cached stages by @rsasaki0109 in #69
• Shard the CI test stage with nextest hash partitioning by @rsasaki0109 in #70
• Consume sensor latency in the control loop by @rsasaki0109 in #71
• Ride the Sanjo sensors on a dynamic-bicycle chassis by @rsasaki0109 in #72
• Render the LiDAR cloud like a real viewer and slim the README by @rsasaki0109 in #73
• Multibody disturbance injection with a measured Go2 actuation map by @rsasaki0109 in #74
• Go2 fall-versus-save: sustained pushes, weak motors, and a measured two-channel recovery by @rsasaki0109 in #75
• Go2 motion-is-stability demo and the measured steering boundary by @rsasaki0109 in #76
• Learn a Go2 turning overlay and measure where learning hits the boundary by @rsasaki0109 in #77
• Generalize the Go2 contact schedule and pin the refuted steering hypothesis by @rsasaki0109 in #78
• Open the torque-level actuation pathway on the Go2 by @rsasaki0109 in #79
• Walk the Go2 on torque control and pin the force-level steering nulls by @rsasaki0109 in #80
• Break the Go2 steering plateau with a learned torque-space turn by @rsasaki0109 in #81
• Buy a chaos-robust Go2 torque turn with an ensemble-median objective by @rsasaki0109 in #82
• Place the Sanjo vehicle on real OSM tiles with a speed and steering HUD by @rsasaki0109 in #84
• Close the loop: a state-feedback torque policy that turns while walking by @rsasaki0109 in #83
• Command the turn: a yaw-rate reference makes the policy steer both ways by @rsasaki0109 in #85
• Refute the authority hypothesis and close the torque-policy chapter by @rsasaki0109 in #86
• Open the duty range into flight and pin that the search declines to fly by @rsasaki0109 in #88
• Refute the slip hypothesis: the feet are not slipping by @rsasaki0109 in #90
• Render the torque-steering hero GIF by @rsasaki0109 in #91
• Open the learned-locomotion chapter: learned torques out-walk the trot by @rsasaki0109 in #92
• Port the torque pathway to the G1 humanoid by @rsasaki0109 in #93
• The humanoid takes its first real steps by @rsasaki0109 in #94
• Speed up the robust G1 stride by @rsasaki0109 in #95
• Add the G1 learned stride hero GIF by @rsasaki0109 in #96
• Add the Go2 pure torque policy path by @rsasaki0109 in #97
• feat: add Go2 velocity and terrain policy by @rsasaki0109 in #98
• feat: finish legged locomotion learning foundation by @rsasaki0109 in #99
• feat: extend robust G1 stride speed sweep by @rsasaki0109 in #100
• add commanded G1 locomotion benchmark by @rsasaki0109 in #101
• improve G1 hero test bay background by @rsasaki0109 in #102
• shorten README overview by @rsasaki0109 in #103
• Add bounded G1 heading-yaw v0.2 benchmark by @rsasaki0109 in #104
• Add PBR material foundation for photoreal test bay by @rsasaki0109 in #105
• Add normal and roughness maps to PBR materials by @rsasaki0109 in #106
• Add glTF PBR asset import by @rsasaki0109 in #107
• Add HDR environment lighting (v0.3-B) by @rsasaki0109 in #108
• Add opt-in temporal anti-aliasing by @rsasaki0109 in #109
• Add prefiltered environment lighting by @rsasaki0109 in #110
• Add glTF humanoid skinning and animation sampling by @rsasaki0109 in #111
• feat(render): add GPU glTF skinning player by @rsasaki0109 in #112
• feat(examples): integrate attributed rigged humanoid asset by @rsasaki0109 in #113
• feat(examples): add Unitree G1 photoreal capture by @rsasaki0109 in #114
• feat(examples): add G1 RGB-D sensor capture by @rsasaki0109 in #115
• feat(examples): add industrial photoreal environment by @rsasaki0109 in #116
• feat(oss-workflow): add headless run/replay and browser replay inspection by @rsasaki0109 in #117
• feat(oss-workflow): export full typed sensor payloads by @rsasaki0109 in #118
• feat(oss-workflow): annotate replay runs with contact and failure state by @rsasaki0109 in #120
• feat(openscenario): import minimal OpenSCENARIO 1.0 scenarios by @rsasaki0109 in #121
• feat(openscenario): execute scenarios over the traffic runtime by @rsasaki0109 in #122
• feat(openscenario): wire scenarios into run manifests by @rsasaki0109 in #123
• docs(oss-parity): reflect shipped OpenSCENARIO adapter by @rsasaki0109 in #124
• feat(run): drive named joints through position trajectories by @rsasaki0109 in #125
• feat(sdf): import minimal Gazebo SDF models as URDF by @rsasaki0109 in #126
• feat(mjcf): import minimal MuJoCo MJCF models as URDF by @rsasaki0109 in #127
• feat(physics): negotiate backend capabilities in run manifests by @rsasaki0109 in #128
• feat(physics): add deterministic analytic backend and backend selection by @rsasaki0109 in #129
• feat(openscenario): execute lane-change actions over the traffic runtime by @rsasaki0109 in #130
• feat(openscenario): substitute parameter declarations by @rsasaki0109 in #131
• feat(openscenario): drive network signal timing during scenario runs by @rsasaki0109 in #132
• feat(openscenario): follow assigned routes over the traffic runtime by @rsasaki0109 in #133
• feat(openscenario): resolve vehicle catalog references by @rsasaki0109 in #134
• feat(plugin): add a controller-plugin boundary for the runner by @rsasaki0109 in #135
• feat(control): add interactive runner control (pause/resume/step/reset/quit) by @rsasaki0109 in #136
• feat(plugin): load controller plugins from shared libraries via a C ABI by @rsasaki0109 in #137
• feat(plugin): discover controller plugins by name with a built-in fallback by @rsasaki0109 in #138
• feat(sumo): import SUMO .net.xml road networks into RNE traffic assets by @rsasaki0109 in #139
• feat(plugin): add authoring tooling (scaffold new plugins, list discoverable ones) by @rsasaki0109 in #140
• feat(control): serve runner control and live status over TCP for frontends by @rsasaki0109 in #141
• feat(sumo): let scenario runs reference a SUMO .net.xml road network directly by @rsasaki0109 in #142
• feat(sumo): import SUMO tlLogic fixed-time signal programs by @rsasaki0109 in #143
• feat(control): stream live observation snapshots over the TCP control endpoint by @rsasaki0109 in #144
• feat(traci): add a minimal TraCI client for live SUMO co-simulation by @rsasaki0109 in #145
• feat(traci): map live SUMO vehicles into the RNE frame and validate motion by @rsasaki0109 in #146
• feat(traci): mirror live SUMO vehicles as RNE traffic actors by @rsasaki0109 in #147
• feat(co-sim): run a deterministic headless SUMO co-simulation by @rsasaki0109 in #148
• feat: consolidate M0 OSS parity and replay hardening by @rsasaki0109 in #149
• test: isolate friction grasp fixtures by @rsasaki0109 in #150
• feat(behavior): reproduce and minimize CI failures by @rsasaki0109 in #151
• feat(controller): ship the stable robot-native control surface by @rsasaki0109 in #152
• feat(sensor): ship the production frontend transport by @rsasaki0109 in #154
• Physics backend conformance and canonical snapshots by @rsasaki0109 in #155
• feat(traffic): complete M5 scenario and traffic scale gate by @rsasaki0109 in #156
• chore(release): establish 1.0 RC contracts by @rsasaki0109 in #157
• feat(release): add M6 supply-chain evidence by @rsasaki0109 in #158
• feat(release): harden parser and protocol boundaries by @rsasaki0109 in #160
• feat(release): add native artifact rehearsals by @rsasaki0109 in #161
• feat(release): enforce final RC exit matrix by @rsasaki0109 in #162
• docs(release): record final M6 exit evidence by @rsasaki0109 in #163

Full Changelog: https://github.com/rsasaki0109/RoboSim/commits/v0.1.0