0.3.0

Highlights

• Core library: Octree support (thanks to @CihatAltiparmak), upgrade to Pinocchio 3.9.0 and official Viser visualizer.
• Optimal Inverse Kinematics (OInK): Position barrier functions (thanks to @sjahr), interface cleanups, support joint groups and continuous joints.
• Sampling-based planning: Adaptive TOPP-RA algorithm for faster trajectories, optimized RRT visualization in examples.

We are close to getting this library up on the ROS build farm! We've taken up maintenance of the toppra repository and got that pretty much ready. For RoboPlan itself, there is one straggling issue with nanobind we are working out.

oink_dual_position_barrier.webm

rrt_octree.webm

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What's Changed

• Rename GSoC docs page to Project Ideas by @sea-bass in #140
• Fix stub install folder by @sea-bass in #144
• Fix roboplan_oink OSQP dependency resolution by @wengmister in #141
• Simplify oink frame task and use model joint limits for velocity constraints by @sea-bass in #143
• Ensure oink tests run in all workflows by @sea-bass in #145
• Update Docs : Add roboplan_oink to C++ and Python API reference by @kumar-sanjeeev in #155
• Fix position limits oink constraint for models with continuous joints by @sea-bass in #147
• Validate subgroup parsing order issues in SRDF by @sea-bass in #157
• return true only when a valid solution found by @Mattolo4 in #160
• Add scene methods to get joint limit vectors by @sea-bass in #162
• CI check for bindings stub files by @sea-bass in #161
• Add viser buttons to RRT example by @sea-bass in #163
• Add bisection option when checking collisions along path and optimize RRT visualization by @sea-bass in #164
• Add spline fitting options to TOPP-RA by @sea-bass in #165
• Switch to official TOPP-RA upstream by @sea-bass in #167
• Adaptive TOPP-RA trajectory generation by @sea-bass in #166
• Pixi: Add nodeenv to pypi dependencies, libtoppra on all platforms by @sea-bass in #170
• Add console_bridge to cmake by @rafaelrojasmiliani in #172
• [oink] Control Barrier Functions by @sjahr in #122
• Get toppra from binaries or FetchContent by @sea-bass in #174
• Switch to OSQP v0.6.3 for OInK by @sea-bass in #176
• Upgrade to Pinocchio 3.9 by @sea-bass in #97
• Add octree support by @CihatAltiparmak in #139
• Incorporate scene and joint groups into OInK by @sea-bass in #177
• 0.3.0 by @sea-bass in #178

New Contributors

• @wengmister made their first contribution in #141
• @Mattolo4 made their first contribution in #160
• @rafaelrojasmiliani made their first contribution in #172
• @CihatAltiparmak made their first contribution in #139

Full Changelog: 0.2.0...0.3.0