- More robust Error handling
- Basic examples
- Documentation for external API
- Exposed objective function and constraint API
- Read scene from file
- Cleanup
- Generic manipulator
- Hide optimization details and setup
- Dissociate trajectory data from functions
- User friendly API
- Cleanup Manipulator
- rename variables and functions
- Tested dynamic models for supported robots
- Kinova Link6
- Kinova Gen3
- Universal Robots UR5e
- Yaskawa HC10DTP
- Fast collision distance detection
- 4 basic primitives
- Example scene
- Incremental detection for speed
- Collision for general shapes
- Broad-narrow phase