0.3.0 (#178)

Author: sea-bass

bindings/CHANGELOG.rst

@@ -0,0 +1,89 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package roboplan_bindings
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2026-04-18)
+------------------
+* Incorporate scene and joint groups into OInK (`#177 <https://github.com/open-planning/roboplan/issues/177>`_)
+* Add octree support (`#139 <https://github.com/open-planning/roboplan/issues/139>`_)
+* Upgrade to Pinocchio 3.9 (`#97 <https://github.com/open-planning/roboplan/issues/97>`_)
+* [oink] Control Barrier Functions (`#122 <https://github.com/open-planning/roboplan/issues/122>`_)
+* Adaptive TOPP-RA trajectory generation (`#166 <https://github.com/open-planning/roboplan/issues/166>`_)
+* Add spline fitting options to TOPP-RA (`#165 <https://github.com/open-planning/roboplan/issues/165>`_)
+* Add bisection option when checking collisions along path and optimize RRT visualization (`#164 <https://github.com/open-planning/roboplan/issues/164>`_)
+* Add viser buttons to RRT example (`#163 <https://github.com/open-planning/roboplan/issues/163>`_)
+* CI check for bindings stub files (`#161 <https://github.com/open-planning/roboplan/issues/161>`_)
+* Add scene methods to get joint limit vectors (`#162 <https://github.com/open-planning/roboplan/issues/162>`_)
+* Fix stub install folder (`#144 <https://github.com/open-planning/roboplan/issues/144>`_)
+* Contributors: Cihat Kurtuluş Altıparmak, Sebastian Castro, Sebastian Jahr
+
+0.2.0 (2026-02-16)
+------------------
+* Use nanobind from pip install for ament workflows (`#138 <https://github.com/open-planning/roboplan/issues/138>`_)
+* Add cmake option to generate Python stubs (`#133 <https://github.com/open-planning/roboplan/issues/133>`_)
+* Fix bindings (`#137 <https://github.com/open-planning/roboplan/issues/137>`_)
+* Expose oink solver regularization as argument (`#136 <https://github.com/open-planning/roboplan/issues/136>`_)
+* Simplify FrameTask interface and allow modifying target transforms at runtime (`#131 <https://github.com/open-planning/roboplan/issues/131>`_)
+* Separates 6D IK error tolerance into linear (meters) and angular (radians) components (`#128 <https://github.com/open-planning/roboplan/issues/128>`_)
+* Support multiple tip frames in simple IK (`#125 <https://github.com/open-planning/roboplan/issues/125>`_)
+* Update .pyi files after oink addition (`#127 <https://github.com/open-planning/roboplan/issues/127>`_)
+* Fix usage of tinyxml2 and tl_expected dependencies (`#124 <https://github.com/open-planning/roboplan/issues/124>`_)
+* Remove lambdas from oink python bindings and use Eigen::Ref (`#119 <https://github.com/open-planning/roboplan/issues/119>`_)
+* Aggregated Init SimpleIkOptions and RRTOptions constructor bindings (`#120 <https://github.com/open-planning/roboplan/issues/120>`_)
+* Optimal differential IK solver (`#110 <https://github.com/open-planning/roboplan/issues/110>`_)
+* Contributors: Erik Holum, Sanjeev, Sebastian Castro, Sebastian Jahr
+
+0.1.0 (2026-01-19)
+------------------
+* Add argument names and basic docstrings to Python bindings (`#114 <https://github.com/open-planning/roboplan/issues/114>`_)
+* CMake and example model path fixes for conda-forge building (`#112 <https://github.com/open-planning/roboplan/issues/112>`_)
+* Another hotfix to Viser visualizer
+* Patch Viser visualizer to load STL mesh colors properly (`#108 <https://github.com/open-planning/roboplan/issues/108>`_)
+* Export bindings utils as an interface library (`#103 <https://github.com/open-planning/roboplan/issues/103>`_)
+* Extract visualize_joint_trajectory from example_rrt.py (`#98 <https://github.com/open-planning/roboplan/issues/98>`_)
+* Organize examples (`#95 <https://github.com/open-planning/roboplan/issues/95>`_)
+* More consts in the Scene member accessors and python tests (`#94 <https://github.com/open-planning/roboplan/issues/94>`_)
+* Add initial ReadTheDocs setup (`#90 <https://github.com/open-planning/roboplan/issues/90>`_)
+* Fix applyMimics binding by copying and returning a value (`#88 <https://github.com/open-planning/roboplan/issues/88>`_)
+* Allow setting collision pairs (`#85 <https://github.com/open-planning/roboplan/issues/85>`_)
+* Add collision checking, random restarts, and max time to simple IK solver (`#86 <https://github.com/open-planning/roboplan/issues/86>`_)
+* Support collision objects in scene (`#80 <https://github.com/open-planning/roboplan/issues/80>`_)
+* Make example models locatable in Rviz (`#82 <https://github.com/open-planning/roboplan/issues/82>`_)
+* Support building bindings with colcon (`#76 <https://github.com/open-planning/roboplan/issues/76>`_)
+* Support continuous joints in RRT and TOPP-RA (`#73 <https://github.com/open-planning/roboplan/issues/73>`_)
+* Ensure the sampled points are actually connectable in path shortcutting (`#71 <https://github.com/open-planning/roboplan/issues/71>`_)
+* Support joint groups (`#64 <https://github.com/open-planning/roboplan/issues/64>`_)
+* Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (`#59 <https://github.com/open-planning/roboplan/issues/59>`_)
+* Add an example model with two fr3s (`#50 <https://github.com/open-planning/roboplan/issues/50>`_)
+* Create map of frame names to IDs in Scene (`#58 <https://github.com/open-planning/roboplan/issues/58>`_)
+* Update READMEs from setting up new computer
+* Organize Python bindings (`#51 <https://github.com/open-planning/roboplan/issues/51>`_)
+* Fix IK example (`#49 <https://github.com/open-planning/roboplan/issues/49>`_)
+* Specify acceleration and jerk limits through YAML config file (`#45 <https://github.com/open-planning/roboplan/issues/45>`_)
+* TOPP-RA path parameterization (`#42 <https://github.com/open-planning/roboplan/issues/42>`_)
+* Add `tl::expected` wrapping (`#36 <https://github.com/open-planning/roboplan/issues/36>`_)
+* Add path shortening utils and consolidate examples (`#33 <https://github.com/open-planning/roboplan/issues/33>`_)
+* Add Franka model and examples (`#34 <https://github.com/open-planning/roboplan/issues/34>`_)
+* Hotfix to IK example
+* Interactive IK example (`#29 <https://github.com/open-planning/roboplan/issues/29>`_)
+* Visualize RRTs with Viser (`#25 <https://github.com/open-planning/roboplan/issues/25>`_)
+* Add RRT Connect (`#24 <https://github.com/open-planning/roboplan/issues/24>`_)
+* Respect Joint Limits for Start and Goal Poses and Add Planning Timeout for RRT (`#23 <https://github.com/open-planning/roboplan/issues/23>`_)
+* First vanilla RRT implementation with dynotree (`#16 <https://github.com/open-planning/roboplan/issues/16>`_)
+* Add vanilla CMake workflow (`#12 <https://github.com/open-planning/roboplan/issues/12>`_)
+* Test all active ROS distros (`#11 <https://github.com/open-planning/roboplan/issues/11>`_)
+* Collision checking functionality (`#10 <https://github.com/open-planning/roboplan/issues/10>`_)
+* Generate random positions from scene (`#8 <https://github.com/open-planning/roboplan/issues/8>`_)
+* Move models to `roboplan_example_models` package (`#7 <https://github.com/open-planning/roboplan/issues/7>`_)
+* Update the example target in the README (`#4 <https://github.com/open-planning/roboplan/issues/4>`_)
+* Add basic unit testing pipeline (`#5 <https://github.com/open-planning/roboplan/issues/5>`_)
+* Add simple IK solver (`#3 <https://github.com/open-planning/roboplan/issues/3>`_)
+* Reorganize packages (`#2 <https://github.com/open-planning/roboplan/issues/2>`_)
+* Add basic CI (`#1 <https://github.com/open-planning/roboplan/issues/1>`_)
+* More playing around with types and bindings
+* Exploration in class binding
+* Initial build instructions for ROS 2 + Python bindings
+* Actually load a model, put find_package in the config file
+* Add dummy Pinocchio function to bind
+* Extremely hacky nanobind experiment
+* Contributors: Catarina Pires, Erik Holum, Sebastian Castro, Sebastian Jahr

bindings/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.22)
 
-project(roboplan_bindings LANGUAGES CXX VERSION 0.2.0)
+project(roboplan_bindings LANGUAGES CXX VERSION 0.3.0)
 
 add_compile_definitions(ROBOPLAN_VERSION="${PROJECT_VERSION}")
 

bindings/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>roboplan_bindings</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>Python bindings for the roboplan library built with nanobind.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
   <maintainer email="eholum@gmail.com">Erik Holum</maintainer>

bindings/pyproject.toml

@@ -4,8 +4,8 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "roboplan"
-version = "0.2.0"
-description = "Modern and performant motion planning library based on Pinocchio."
+version = "0.3.0"
+description = "Modern motion planning library based on Pinocchio."
 readme = "README.md"
 requires-python = ">=3.10"
 authors = [

bindings/test/test_import.py

@@ -16,11 +16,11 @@ def test_roboplan_version_attr() -> None:
     import roboplan
 
     ver = roboplan.__version__
-    assert ver == "0.2.0", "Incorrect RoboPlan version in module attribute"
+    assert ver == "0.3.0", "Incorrect RoboPlan version in module attribute"
 
 
 def test_roboplan_version_metadata() -> None:
-    assert version("roboplan") == "0.2.0", "Incorrect RoboPlan version in metadata"
+    assert version("roboplan") == "0.3.0", "Incorrect RoboPlan version in metadata"
 
 
 def test_import_pinocchio() -> None:

docs/source/conf.py

@@ -26,7 +26,7 @@
 author = "Sebastian Castro"
 
 # The full version, including alpha/beta/rc tags
-version = release = "0.2.0"
+version = release = "0.3.0"
 
 
 # -- General configuration ---------------------------------------------------

pixi.toml

@@ -3,7 +3,7 @@ authors   = ["Sebastian Castro <sebas.a.castro@gmail.com>", "JafarAbdi <jafar.ur
 channels  = ["conda-forge"]
 name      = "roboplan"
 platforms = ["linux-64", "linux-aarch64"]
-version   = "0.2.0"
+version   = "0.3.0"
 
 [activation.env]
 CMAKE_INSTALL_PREFIX = "$CONDA_PREFIX"

roboplan/CHANGELOG.rst

@@ -0,0 +1,59 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package roboplan
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2026-04-18)
+------------------
+* Incorporate scene and joint groups into OInK (`#177 <https://github.com/open-planning/roboplan/issues/177>`_)
+* Add octree support (`#139 <https://github.com/open-planning/roboplan/issues/139>`_)
+* Add console_bridge to cmake (`#172 <https://github.com/open-planning/roboplan/issues/172>`_)
+* Add bisection option when checking collisions along path and optimize RRT visualization (`#164 <https://github.com/open-planning/roboplan/issues/164>`_)
+* Add scene methods to get joint limit vectors (`#162 <https://github.com/open-planning/roboplan/issues/162>`_)
+* Validate subgroup parsing order issues in SRDF (`#157 <https://github.com/open-planning/roboplan/issues/157>`_)
+* Fix position limits oink constraint for models with continuous joints (`#147 <https://github.com/open-planning/roboplan/issues/147>`_)
+* Contributors: Cihat Kurtuluş Altıparmak, Rafael A. Rojas, Sebastian Castro
+
+0.2.0 (2026-02-16)
+------------------
+* Fix usage of tinyxml2 and tl_expected dependencies (`#124 <https://github.com/open-planning/roboplan/issues/124>`_)
+* Optimal differential IK solver (`#110 <https://github.com/open-planning/roboplan/issues/110>`_)
+* Contributors: Sebastian Castro, Sebastian Jahr
+
+0.1.0 (2026-01-19)
+------------------
+* Add argument names and basic docstrings to Python bindings (`#114 <https://github.com/open-planning/roboplan/issues/114>`_)
+* Improve error reporting in scene_utils map access (`#113 <https://github.com/open-planning/roboplan/issues/113>`_)
+* Organize examples (`#95 <https://github.com/open-planning/roboplan/issues/95>`_)
+* More consts in the Scene member accessors and python tests (`#94 <https://github.com/open-planning/roboplan/issues/94>`_)
+* Add initial ReadTheDocs setup (`#90 <https://github.com/open-planning/roboplan/issues/90>`_)
+* Fix applyMimics binding by copying and returning a value (`#88 <https://github.com/open-planning/roboplan/issues/88>`_)
+* Allow setting collision pairs (`#85 <https://github.com/open-planning/roboplan/issues/85>`_)
+* Support collision objects in scene (`#80 <https://github.com/open-planning/roboplan/issues/80>`_)
+* Make example models locatable in Rviz (`#82 <https://github.com/open-planning/roboplan/issues/82>`_)
+* Add basic unit test for continuous and mimic joints (`#75 <https://github.com/open-planning/roboplan/issues/75>`_)
+* Support continuous joints in RRT and TOPP-RA (`#73 <https://github.com/open-planning/roboplan/issues/73>`_)
+* Ensure the sampled points are actually connectable in path shortcutting (`#71 <https://github.com/open-planning/roboplan/issues/71>`_)
+* Support joint groups (`#64 <https://github.com/open-planning/roboplan/issues/64>`_)
+* Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (`#59 <https://github.com/open-planning/roboplan/issues/59>`_)
+* Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (`#63 <https://github.com/open-planning/roboplan/issues/63>`_)
+* Add an example model with two fr3s (`#50 <https://github.com/open-planning/roboplan/issues/50>`_)
+* Fix forward kinematics calc (`#61 <https://github.com/open-planning/roboplan/issues/61>`_)
+* Create map of frame names to IDs in Scene (`#58 <https://github.com/open-planning/roboplan/issues/58>`_)
+* Organize Python bindings (`#51 <https://github.com/open-planning/roboplan/issues/51>`_)
+* Fix path shortcutting logic (`#46 <https://github.com/open-planning/roboplan/issues/46>`_)
+* Specify acceleration and jerk limits through YAML config file (`#45 <https://github.com/open-planning/roboplan/issues/45>`_)
+* TOPP-RA path parameterization (`#42 <https://github.com/open-planning/roboplan/issues/42>`_)
+* Add `tl::expected` wrapping (`#36 <https://github.com/open-planning/roboplan/issues/36>`_)
+* Add path shortening utils and consolidate examples (`#33 <https://github.com/open-planning/roboplan/issues/33>`_)
+* Visualize RRTs with Viser (`#25 <https://github.com/open-planning/roboplan/issues/25>`_)
+* Respect Joint Limits for Start and Goal Poses and Add Planning Timeout for RRT (`#23 <https://github.com/open-planning/roboplan/issues/23>`_)
+* First vanilla RRT implementation with dynotree (`#16 <https://github.com/open-planning/roboplan/issues/16>`_)
+* Add vanilla CMake workflow (`#12 <https://github.com/open-planning/roboplan/issues/12>`_)
+* Test all active ROS distros (`#11 <https://github.com/open-planning/roboplan/issues/11>`_)
+* Collision checking functionality (`#10 <https://github.com/open-planning/roboplan/issues/10>`_)
+* Generate random positions from scene (`#8 <https://github.com/open-planning/roboplan/issues/8>`_)
+* Move models to `roboplan_example_models` package (`#7 <https://github.com/open-planning/roboplan/issues/7>`_)
+* Add basic unit testing pipeline (`#5 <https://github.com/open-planning/roboplan/issues/5>`_)
+* Add simple IK solver (`#3 <https://github.com/open-planning/roboplan/issues/3>`_)
+* Reorganize packages (`#2 <https://github.com/open-planning/roboplan/issues/2>`_)
+* Contributors: Catarina Pires, Erik Holum, Ola Ghattas, Sebastian Castro

roboplan/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(roboplan VERSION 0.2.0)
+project(roboplan VERSION 0.3.0)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

roboplan/package.xml

@@ -2,8 +2,8 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>roboplan</name>
-  <version>0.2.0</version>
-  <description>Modern and performant motion planning library based on Pinocchio.</description>
+  <version>0.3.0</version>
+  <description>Modern motion planning library based on Pinocchio.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
   <license>MIT</license>