v0.8.9
Changelog
All notable changes to this project will be documented in this file.
[unreleased]
Bug Fixes
- Fixes unit test for self collision avoidance.
Fix[selfcollision]
- Fixes #45 by adding variables names for self collision links.
[ft_base_prismatic]
- Add prismatic joint to panda
- Prismatic joint done
Ft[base_prismatic]
- Restores the list of end-links to ensure that constraints goals are respected.
Ft[selfcollision]
- Adds body radiusses in panda self collision example.
Ft[test]
- Adds ignore flag for casadi Function wrapper accepting all the different input types.
[0.8.8] - 2023-10-24
Bug Fixes
- Fixes distance line to line clamping error.
- Fixes panda example for capsule cuboid geometry and adds corresponding tests. Still an issue with some capsules due to Jdot being nan.
Miscellaneous Tasks
- Adds depration to required dependencies.
WIP
- Panda dual arm.
Ft[coverage]
- Adds test for generic leaf and capsule cuboid leaf.
Ft[cuboids]
- Uncomments cuboid capsule related maps.
Ft[example]
- Restores simple panda example and adds simple dual vacuum example.
Ft[helpers]
- Adds helper function to compute rotation matrix.
Ft[rotation]
- Deprecates angle usage in subgoals.
- Changes panda examples to not use subgoal attribute angle anymore.
Ft[rotations]
- Idea on simplifying rotations is working :rocket.
[0.8.7] - 2023-09-29
Bug Fixes
- Fixes line to line and cuboid distances.
Ft[cpp-bridge]
- Adds some basic documentation.
- Adds commented line in panda example to export as c code.
Ft[cpp]
- Allows to export planner as c code. Adds example of how to use it.
Ft[distance]
- Changes line-to-line distance to a closed form solution rather than sampling.
Ft[distances]
- Adds sample-free distance computation for cuboids.