build: pypi wheels for all extensions

.github/workflows/build_wheels.yaml

@@ -7,20 +7,23 @@ on:
 
 jobs:
   build_core_wheels:
-    name: Build core wheels
-    runs-on: ubuntu-latest
+    name: Build core wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-latest
+          - macos-14
     steps:
       - uses: actions/checkout@v4
 
       - name: Build core wheels
         uses: pypa/cibuildwheel@v2.22.0
-        env:
-          CIBW_ARCHS_LINUX: x86_64
-          CIBW_BUILD: cp311-* cp312-* cp313-*
 
       - uses: actions/upload-artifact@v4
         with:
-          name: core-wheels
+          name: core-wheels-${{ matrix.os }}
           path: ./wheelhouse/*.whl
 
   build_cpp_extension_wheels:
@@ -33,15 +36,15 @@ jobs:
         extension:
           - rcs_fr3
           - rcs_panda
-          - rcs_robotics_library
           - rcs_so101
 
     steps:
       - uses: actions/checkout@v4
 
+      # extensions are built on linux, so they need the linux core wheels
       - uses: actions/download-artifact@v4
         with:
-          name: core-wheels
+          name: core-wheels-ubuntu-latest
           path: dist/core
 
       - name: Install root Debian dependencies
@@ -81,7 +84,6 @@ jobs:
         extension:
           - rcs_realsense
           - rcs_robotiq2f85
-          - rcs_tacto
           - rcs_ur5e
           - rcs_usb_cam
           - rcs_xarm7
@@ -90,9 +92,10 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
+      # extensions are built on linux, so they need the linux core wheels
       - uses: actions/download-artifact@v4
         with:
-          name: core-wheels
+          name: core-wheels-ubuntu-latest
           path: dist/core
 
       - name: Install root Debian dependencies

.github/workflows/ci.yaml

@@ -129,7 +129,6 @@ jobs:
         extension:
           - rcs_fr3
           - rcs_panda
-          - rcs_robotics_library
           - rcs_so101
     runs-on: ubuntu-latest
     steps:

.gitignore

@@ -24,4 +24,4 @@ docs/_build
 CLAUDE.md
 uv.lock
 *.parquet
-
+wheelhouse

CHANGELOG.md

@@ -1,3 +1,77 @@
+## v0.7.3 (2026-10-06)
+
+### Feat
+
+- **yam**: is grasped property
+- **YAM**: force limiter for YAM gripper
+- **sim**: current gl context for mac
+- mac os compilation support
+- **wrappers**: gripper prev action obs and threshold
+- **scenes**: add zed cameras to droid setup
+- new droid camera mount
+- added droid zed wrist mount
+- added zed2i
+- **scenes**: add empty world droid
+- add single fr3 mount mesh
+- **sim**: adds configureable kp and kv gains for sim robots
+- **extensions**: robotiq cli for serials
+- **extensions**: robotiq bump
+- **franka**: approach before controller start
+- **franka**: add policy_rate config option
+- add tquat_flange to robot observation
+- add flange in sim
+- **interface**: add get_cartesian_flange_position
+- **franka**: add get_cartesian_flange_position method
+- **franka**: tcp offset defaults to desk
+- **zed**: added intrinsics cli command
+- **fr3/panda**: config for collision values
+- **fr3/panda**: add max torque values to config
+- **cli**: camera episode video export
+- **yaml**: teleop example with cameras
+- **yam**: dual arm support
+- **yam**: add quest teleop
+- yam example
+- **extension**: initial yam implementation
+- **sim**: yam integration
+- **franka**: pd coefficients in controllers
+- **franka**: torque safety limit per joint
+- **extension**: taxim integration (#319)
+- **franka**: added droid setup config
+
+### Fix
+
+- **YAM**: YAM gripper set normalize with uses force
+- joint limits in fr3, xarm and so101
+- **wrappers**: always send arm commands instead of skipping near-identical ones
+- allow only positive frame rate
+- **hw**: move rate limit to bottom of stack
+- viewer process as deamon to avoid open gui on program close
+- **wrappers**: binary prev action obs wrong location
+- reset in storage wrapper to pass seed and options
+- **sim**: added solref and solimp for cubes
+- **assets**: zed2i fovy
+- **scenes**: robot frame objects automatically get grav comp prefix
+- **sim**: zed2i camera rotation
+- **ik**: tcp offset applied correctly in pin forward
+- **scenes**: mutation of q_home in empty world fr3
+- **examples**: added policy rate to for low level pd controller in franka examples
+- pybind pure override
+- virtual get_cartesian_flange_position
+- **franka**: reset also returns franka state
+- **franka**: desk ignore realtime control
+- **teleop**: increase quest reqd frequency to avoid alias effect
+- **yam**: ruckig version
+- **yam**: async
+- **franka cli**: untangle home and gripper
+- **zed**: remove hidden realsense dependency
+- **example**: remove thread for sim inference
+- **config**: single arm robot compatible with teleop
+
+### Refactor
+
+- remove unused robotics library extension and urdf assets
+- **franka**: use thread safe value class
+
 ## v0.7.2 (2026-06-24)
 
 ### Fix

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 project(
     rcs
     LANGUAGES C CXX
-    VERSION 0.7.2
+    VERSION 0.7.3
     DESCRIPTION "Robot Control Stack Library"
 )
 

Makefile

@@ -1,6 +1,14 @@
 PYSRC = python
 CPPSRC = src
 COMPILE_MODE = Release
+WHEELHOUSE = wheelhouse
+CORE_WHEELHOUSE = ${WHEELHOUSE}/core
+PY_EXT_WHEELHOUSE = ${WHEELHOUSE}/py_extensions
+CPP_EXT_WHEELHOUSE = ${WHEELHOUSE}/cpp_extensions
+PY_EXTENSIONS ?= rcs_realsense rcs_robotiq2f85 rcs_ur5e rcs_usb_cam rcs_xarm7 rcs_zed
+CPP_EXTENSIONS ?= rcs_fr3 rcs_panda rcs_so101
+# set to pypi to publish to the real index
+PYPI_REPOSITORY ?= testpypi
 LINT_EXCLUDE_RUFF = --exclude examples/teleop/SimPublisher
 LINT_EXCLUDE_MYPY = 'build|examples/teleop/SimPublisher|examples/inference/franka.py'
 
@@ -68,4 +76,34 @@ bump:
 commit:
 	cz commit
 
-.PHONY: cppcheckformat cppformat cpplint gcccompile clangcompile stubgen pycheckformat pyformat pylint ruff mypy pytest bump commit
+buildcorewheels:
+	rm -rf ${CORE_WHEELHOUSE}
+	cibuildwheel --platform auto --output-dir ${CORE_WHEELHOUSE} .
+	twine check ${CORE_WHEELHOUSE}/*.whl
+
+uploadcorewheels:
+	twine upload --repository ${PYPI_REPOSITORY} ${CORE_WHEELHOUSE}/*.whl
+
+buildpyextensionwheels:
+	rm -rf ${PY_EXT_WHEELHOUSE}
+	for ext in ${PY_EXTENSIONS}; do \
+		uv build --wheel --out-dir ${PY_EXT_WHEELHOUSE} extensions/$$ext || exit 1; \
+	done
+	twine check ${PY_EXT_WHEELHOUSE}/*.whl
+
+uploadpyextensionwheels:
+	twine upload --repository ${PYPI_REPOSITORY} ${PY_EXT_WHEELHOUSE}/*.whl
+
+buildcppextensionwheels:
+	rm -rf ${CPP_EXT_WHEELHOUSE}
+	rm -rf dist/core && mkdir -p dist/core
+	cp ${CORE_WHEELHOUSE}/*.whl dist/core/
+	for ext in ${CPP_EXTENSIONS}; do \
+		cibuildwheel --platform auto --output-dir ${CPP_EXT_WHEELHOUSE} extensions/$$ext || exit 1; \
+	done
+	twine check ${CPP_EXT_WHEELHOUSE}/*.whl
+
+uploadcppextensionwheels:
+	twine upload --repository ${PYPI_REPOSITORY} ${CPP_EXT_WHEELHOUSE}/*.whl
+
+.PHONY: cppcheckformat cppformat cpplint gcccompile clangcompile stubgen pycheckformat pyformat pylint ruff mypy pytest bump commit buildcorewheels uploadcorewheels buildpyextensionwheels uploadpyextensionwheels buildcppextensionwheels uploadcppextensionwheels