0.5.0

Highlights

• Infrastructure: RoboPlan is now available on PyPi, Pixi dev workflow supported on macOS.
• Core library:
  • Significantly sped up collision checking with Pinocchio's broadphase manager, which in turn sped up RRT, path shortcutting, and collision-aware inverse kinematics.
  • Added base frame support for forward kinematics and Jacobian calculations, thereby supporting inverse kinematics in non-world frames.
• Motion planning: New Cartesian planner implementation, added RRT* and time budget usage options.

cartesian-rounded-ur5.webm

cartesian-dual.webm

rrt-dual-speedup.webm

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What's Changed

• Scene parsing and joint configuration clamping improvements by @sea-bass in #228
• Add Reachback mobile manipulator model by @stephanie-eng in #227
• Minor improvements to SimpleIK and forward kinematics by @eholum in #231
• Fix the example IK python script by @eholum in #233
• Speed up collision checking and RRT by @sea-bass in #232
• Speed up path shortcutting by @sea-bass in #236
• support accel + jerk limits in urdf>=1.2 by @muslim-adedamola in #235
• Update to Pixi v7 lock format by @sea-bass in #237
• Allow overriding joint position limits in YAML config by @sea-bass in #242
• Add documentation for sampling-based planning and path shortcutting by @sea-bass in #241
• add base frame support to Jacobian by @muslim-adedamola in #238
• Add RRT* and fast-return mode by @sea-bass in #246
• Fix Pixi package tasks and ASan stub generation by @mini-1235 in #251
• Fix RRT connect tree joining for RRT* by @eholum in #252
• Store list of link names in group info by @sea-bass in #253
• Add clang-tidy by @sjahr in #182
• Add broadphase culling to collision checking and self-collision barrier by @sea-bass in #254
• Make ConfigurationTask runtime tunable and add AccelerationLimit by @sea-bass in #250
• Cartesian path planner by @sea-bass in #240
• Add pixi Support for osx-arm64 and missing docs pages by @eholum in #248
• Add unit tests for roboplan_simple_ik package by @sea-bass in #257
• adding cmeel based pip installation by @TomCC7 in #247
• Enable modernize and performance clang-tidy checks by @sjahr in #258
• Fix OInK instability with failures to converge by @sea-bass in #256
• 0.5.0 by @sea-bass in #260

New Contributors

• @stephanie-eng made their first contribution in #227
• @mini-1235 made their first contribution in #251
• @TomCC7 made their first contribution in #247

Full Changelog: 0.4.0...0.5.0