v0.2.7

First release with setuptools_scm-managed versioning. pip install git+...@v0.2.7 now resolves to the matching version directly (no auto-bump dance, no tag/metadata drift).

Changes since v0.2.6

• Switch to setuptools_scm for dynamic versioning. The git tag is now the source of truth for the package version; pyproject.toml no longer carries a static version = "..." line. Removes [tool.tbump] and the release.yml workflow that auto-bumped on tag publish.

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Release notes written by Claude on the author's behalf.

v0.2.6

Bug fixes

• Electric-gripper stall detection: terminate on stall when grasping, ignore PID hunting on clamped jaws, keep move_active set so subsequent commands don't short-circuit.
• SetTcpOffset now routes through the motion-planner subprocess (was applied controller-side only, leaving the planner with stale IK seeds).
• Failed tool actions clear stale error state and command_index so subsequent commands aren't blocked.
• RobotClient.async_client property removed (cross-loop foot-gun). Async users construct AsyncRobotClient directly. Minor API break.

Kinematics / motion

• TOPP-RA trajectory shake: njit'd IK-outlier smoother (median-filters IK output), denser IK sampling, sim-dt jitter fix.
• IK max_iter bumped 10 → 20 to help wrist-near-singular targets converge.
• Deterministic wrist-flip restart for IK branches that converge outside joint limits.

Dependencies

• pinokin pin bumped v0.1.5 → v0.1.6.

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Release notes written by Claude on the author's behalf.