v1.0.0

geodex 1.0 plans collision-free, metric-aware robot motion in a single call, from Python or C++, with planning, collision checking and nine built-in robots in one pip install.

📦 pip install pygeodex · 📖 Documentation · 📄 Paper

Highlights

• Plan with a single call. geodex.plan(robot, start, goal, scene) returns a smooth, collision-free path, and geodex::planning::plan() is the same call in C++.
• Everything from pip. On Linux and macOS, pygeodex includes planning, SIMD collision checking and the built-in robots.
• Nine robots, ready to plan. Franka Panda and FR3, UR5, Baxter, PR2, Hello Robot Stretch 3 and Stretch 4, and a UR5e on a Clearpath Ridgeback or Husky.
• Whole-body mobile manipulation. geodex plans the base and the arm together, and a holonomic or a differential-drive base is one metric setting.
• Smooth paths. smooth_path rounds the corners of a path into C² curves and checks them like every other edge.
• ROS 2 plugins. A Nav2 global planner (geodex_nav2_planner) and a MoveIt 2 planner (geodex_moveit) for Jazzy and Lyrical.
• Planning times. Every plan reports its search and smoothing times and the time to its first solution.
• Reproducible. A seed and an iteration budget give the same path on every run on the same platform.
• New documentation. Every example comes in Python and C++, with interactive 3D views and robot guides.

See CHANGELOG.md for every change and fix.

Full Changelog: v0.2.1...v1.0.0