v0.2.2: API cleanup, pinokin IK, tool support, hot path optimization#14

Merged

Jepson2k merged 87 commits into

PCrnjak:mainfrom

Apr 10, 2026

Commits on Dec 17, 2025

Commits on Dec 18, 2025

Commits on Dec 27, 2025

added reset command, doc strings, and mesh simplification
Jepson2k
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Commits on Dec 29, 2025

swap spatialmath usage for sophuspy
Jepson2k
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Commits on Jan 5, 2026

Commits on Jan 10, 2026

Commits on Jan 11, 2026

Commits on Jan 15, 2026

Commits on Jan 21, 2026

Commits on Jan 22, 2026

removed unnecessary timeout
Jepson2k
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Commits on Jan 23, 2026

reduce default control loop rate to 100Hz
Jepson2k
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Commits on Jan 24, 2026

Commits on Jan 28, 2026

Commits on Jan 29, 2026

Commits on Feb 2, 2026

replace roboticstoolbox with pinokin, zero-allocation IK cleanup
Jepson2k
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Commits on Feb 11, 2026

fix all mypy errors, unify client return types to int
Jepson2k
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Commits on Feb 12, 2026

removed more unnecessary allocations, added examples and categories to doc strings, turned off gc for frozen msgspec structs
Jepson2k
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Commits on Feb 18, 2026

Commits on Feb 19, 2026

rewrite README: update API references, add architecture and internals docs
Jepson2k
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Commits on Mar 7, 2026

disable set_pdeathsig on Windows to fix CI crash
Jepson2k
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Commits on Mar 22, 2026

Commits on Mar 23, 2026

jogL: send JOG command with velocity instead of MOVE, fix servoL IK oscillation at boundary
Jepson2k
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Commits on Mar 24, 2026

fix jogL jitter, restore servoL CSE speed matching, adaptive overbudget logging
Jepson2k
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Commits on Mar 26, 2026

Commits on Mar 29, 2026

bump version to 0.2.0, update README and examples
Jepson2k
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Commits on Mar 30, 2026

update readme and add versioning
Jepson2k
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Commits on Mar 31, 2026

Commits on Apr 7, 2026

Commits on Apr 8, 2026