Release 0.6.0 · open-planning/roboplan

Highlights

Constrained RRT Planning: Added pose constraint projection to RRT algorithm.
Improved optimal IK: Replaced the backend for the OInK solver with ProxQP from ProxSuite, yielding improved speed and solve rate.
Improved Cartesian planning: Refactored the Cartesian planner released in 0.5.0 based on testing on the NASA CLR platform (see second video below).
Windows support: Pixi dev workflow is now available on Windows, in addition to Linux and macOS. This includes the roboplan-ros repo too!

constrained-rrt-franka.webm

clr-constrained-planning-compressed.webm

Design Docs: System architecture and comparing to other tools by @sea-bass in #265
Fixes for new Ubuntu 26.04 ROS Rolling docker by @sea-bass in #269
Switch OInK backend from OSQP to ProxQP by @sjahr in #259
Add mujoco_ros2_control option to Franka xacro by @sea-bass in #268
ci: isolate clang-tidy and RRT benchmark jobs by @w3lld1 in #270
Windows support through Pixi by @sea-bass in #271
Fix Python bindings installs for ROS + Windows by @sea-bass in #272
Fix MacOS rpath issues by @eholum in #275
Improve joint limit saturation in SimpleIk by @sea-bass in #276
Improve Cartesian path planner by @sea-bass in #277
Improve OInK build times by @sea-bass in #273
Pose constraints in RRT by @sea-bass in #278
0.6.0 by @sea-bass in #279

Full Changelog: 0.5.1...0.6.0