0.8.0

Highlights

• Core API:
  • API for attaching/detaching objects in RoboPlan scenes
  • Allow path shortcutting to use constraint projection -- constraint API therefore moved to roboplan_core from roboplan_rrt package
  • Improved benchmark suite encompassing various algorithms
• Sampling-based motion planning (RRT):
  • Support planning to multiple possible goals
  • Switch to nanoflann for K-D tree representation
• Optimal Inverse Kinematics (OInK):
  • Switch from single QP to cascade of QPs to better handle priority stacking
  • Add iterative solve mode to use for planning applications
  • New relative pose constraint and bimanual example
  • Upgraded to ProxSuite 0.8 which finalizes ability to release to ROS build farm

... and several other improvements and bug fixes!

Check out some of the cool new examples this release has enabled:

roboplan-0.8.0-tiago-pick-place.mp4

roboplan-0.8.0-dual-arm-constraint-ik.webm

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What's Changed

• Fix placement locations in collision geometry methods by @sea-bass in #352
• Add attach/detach object API by @andrewhoelscher in #355
• Convert MuJoCo RRT example to do pick and place by @sea-bass in #358
• Add an example that uses the attach/detach API by @andrewhoelscher in #359
• Switch CI to macos-latest by @eholum in #362
• Make empty frame name mean world in CartesianPath by @andrewhoelscher in #364
• Add TIAGo Pro example model + pick example by @andrewhoelscher in #365
• SimpleIK randomization should only touch joints in the group by @andrewhoelscher in #366
• Add support for multiple goals in RRT by @andrewhoelscher in #361
• Load joint limits in C++ Cartesian planning example by @sea-bass in #368
• Use the system tl::expected when available and keep bundled copies out of include/ by @Tobias-Fischer in #369
• Add dev version mangle to wheel CI job in non-release mode by @sea-bass in #367
• Keep exporting roboplan::tl_expected when the system tl-expected is used by @Tobias-Fischer in #372
• Add Stretch 4 PG4 gripper model by @hello-ola in #374
• Add benchmarks and actually check CI by @eholum in #357
• Switch to nanoflann for RRT K-D trees by @sea-bass in #376
• Change OInK to solve cascade of QPs + add Relative pose constraint by @sea-bass in #363
• Iterative interface for OInK by @sea-bass in #371
• Bind refreshContext; remove scene argument by @andrewhoelscher in #379
• Add joint limits + pullback to PositionLimit by @andrewhoelscher in #378
• Don't install into CONDA_PREFIX in pixi build by @EzraBrooks in #382
• Pin tapi to >4 for macos by @eholum in #383
• Add bimanual pick-and-place example for TiagoPro by @andrewhoelscher in #381
• Revert tapi pin and instead re-lock the project by @sea-bass in #385
• Fix lighting in MuJoCo example by @sea-bass in #389
• Update pixi for latest ROS Kilted version by @sea-bass in #390
• Upgrade to ProxSuite 0.8 by @sea-bass in #386
• Depend on libcereal-dev in OInK by @sea-bass in #391
• Enable constraint projection in path shortcutting by @sea-bass in #387
• Fix TOPP-RA planar joint path calculations by @sea-bass in #388
• Repo passthrough before 0.8.0 release by @sea-bass in #392
• Cartesian path planning robustness improvements by @sea-bass in #393
• 0.8.0 by @sea-bass in #394

New Contributors

• @andrewhoelscher made their first contribution in #355
• @Tobias-Fischer made their first contribution in #369
• @hello-ola made their first contribution in #374

Full Changelog: 0.7.0...0.8.0