0.4.0

Highlights

• Core library: Modular (per-package) Python bindings, initial support for Pinocchio 4.0.0, support planar joints for mobile manipulators.
• Optimal Inverse Kinematics (OInK): Task priorities and nullspace projection, self-collision barrier.
• Examples: New Hello Robot Stretch 4 model, new examples for action chunk tracking and keyboard teleop.

RoboPlan is fully available in conda-forge and ready to release on the ROS build farm for the Jazzy and Kilted distributions. Support for Lyrical and Rolling will happen in subsequent releases pending the resolution of a minor osqp issue on Ubuntu 26.04.

roboplan-0.4.0-oink-collision.webm

roboplan-0.4.0-stretch-rrt.webm

roboplan-0.4.0-action-chunk.webm

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What's Changed

• Add SE3 low-pass filter C++ library and Python bindings by @crisiumnih in #180
• Update Python API docs by @sea-bass in #183
• Use parallel builds in vanilla CMake script by @sea-bass in #185
• Fix bugs in collision object scene operations by @sea-bass in #193
• Add OInK action chunk tracking example by @muslim-adedamola in #196
• Add contributor guide by @sea-bass in #198
• Add CartesianTrajectory type by @muslim-adedamola in #203
• Support cylinder and mesh scene collision objects by @sea-bass in #197
• Support dual end effectors in action chunk example by @muslim-adedamola in #204
• Support Pinocchio 4.0 by @sea-bass in #205
• Lazy import plyfile to not require it in all examples by @sea-bass in #194
• Add Stretch4 model by @olaghattas in #208
• Pin viser to below 1.0.25 by @sea-bass in #211
• Support planar joints by @olaghattas in #209
• Use native mimic joint functionality in Pinocchio by @olaghattas in #214
• Fix TOPPRA issues when using planar joints by @sea-bass in #216
• Keyboard teleoperation example by @muslim-adedamola in #213
• Upgrade Pinocchio to 4.0.0 in Ubuntu docker by @sea-bass in #218
• Add toppra and nanobind-dev rosdep keys by @sea-bass in #219
• Support priorities and nullspace projection in OInK tasks by @sea-bass in #206
• Pin viser to 1.0.29 or newer by @sea-bass in #222
• OInK self-collision barrier by @sea-bass in #207
• Modularize Python bindings by @sea-bass in #221
• Add missing gtest and gmock deps in package.xmls by @sea-bass in #223
• Add Ubuntu 26.04 and ROS 2 Lyrical to CI by @sea-bass in #215
• Fix failing OInK test due to dimension mismatch by @sea-bass in #225
• 0.4.0 by @sea-bass in #226

New Contributors

• @crisiumnih made their first contribution in #180
• @muslim-adedamola made their first contribution in #196

Full Changelog: 0.3.0...0.4.0