CHANGELOG

Changelog for package roboplan_bindings

0.3.0 (2026-04-18)

• Incorporate scene and joint groups into OInK (#177)

• Add octree support (#139)

• Upgrade to Pinocchio 3.9 (#97)

• [oink] Control Barrier Functions (#122)

• Adaptive TOPP-RA trajectory generation (#166)

• Add spline fitting options to TOPP-RA (#165)

• Add bisection option when checking collisions along path and optimize RRT visualization (#164)

• Add viser buttons to RRT example (#163)

• CI check for bindings stub files (#161)

• Add scene methods to get joint limit vectors (#162)

• Fix stub install folder (#144)

• Contributors: Cihat Kurtuluş Altıparmak, Sebastian Castro, Sebastian Jahr

0.2.0 (2026-02-16)

• Use nanobind from pip install for ament workflows (#138)

• Add cmake option to generate Python stubs (#133)

• Fix bindings (#137)

• Expose oink solver regularization as argument (#136)

• Simplify FrameTask interface and allow modifying target transforms at runtime (#131)

• Separates 6D IK error tolerance into linear (meters) and angular (radians) components (#128)

• Support multiple tip frames in simple IK (#125)

• Update .pyi files after oink addition (#127)

• Fix usage of tinyxml2 and tl_expected dependencies (#124)

• Remove lambdas from oink python bindings and use Eigen::Ref (#119)

• Aggregated Init SimpleIkOptions and RRTOptions constructor bindings (#120)

• Optimal differential IK solver (#110)

• Contributors: Erik Holum, Sanjeev, Sebastian Castro, Sebastian Jahr

0.1.0 (2026-01-19)

• Add argument names and basic docstrings to Python bindings (#114)

• CMake and example model path fixes for conda-forge building (#112)

• Another hotfix to Viser visualizer

• Patch Viser visualizer to load STL mesh colors properly (#108)

• Export bindings utils as an interface library (#103)

• Extract visualize_joint_trajectory from example_rrt.py (#98)

• Organize examples (#95)

• More consts in the Scene member accessors and python tests (#94)

• Add initial ReadTheDocs setup (#90)

• Fix applyMimics binding by copying and returning a value (#88)

• Allow setting collision pairs (#85)

• Add collision checking, random restarts, and max time to simple IK solver (#86)

• Support collision objects in scene (#80)

• Make example models locatable in Rviz (#82)

• Support building bindings with colcon (#76)

• Support continuous joints in RRT and TOPP-RA (#73)

• Ensure the sampled points are actually connectable in path shortcutting (#71)

• Support joint groups (#64)

• Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)

• Add an example model with two fr3s (#50)

• Create map of frame names to IDs in Scene (#58)

• Update READMEs from setting up new computer

• Organize Python bindings (#51)

• Fix IK example (#49)

• Specify acceleration and jerk limits through YAML config file (#45)

• TOPP-RA path parameterization (#42)

• Add tl::expected wrapping (#36)

• Add path shortening utils and consolidate examples (#33)

• Add Franka model and examples (#34)

• Hotfix to IK example

• Interactive IK example (#29)

• Visualize RRTs with Viser (#25)

• Add RRT Connect (#24)

• Respect Joint Limits for Start and Goal Poses and Add Planning Timeout for RRT (#23)

• First vanilla RRT implementation with dynotree (#16)

• Add vanilla CMake workflow (#12)

• Test all active ROS distros (#11)

• Collision checking functionality (#10)

• Generate random positions from scene (#8)

• Move models to roboplan_example_models package (#7)

• Update the example target in the README (#4)

• Add basic unit testing pipeline (#5)

• Add simple IK solver (#3)

• Reorganize packages (#2)

• Add basic CI (#1)

• More playing around with types and bindings

• Exploration in class binding

• Initial build instructions for ROS 2 + Python bindings

• Actually load a model, put find_package in the config file

• Add dummy Pinocchio function to bind

• Extremely hacky nanobind experiment

• Contributors: Catarina Pires, Erik Holum, Sebastian Castro, Sebastian Jahr