CHANGELOG

Changelog for package pick_ik

1.1.0 (2023-12-13)

• Support continuous (unbounded) joints properly (#59)

• Run elite gradient descent in separate threads (#61)

• Contributors: Sebastian Castro

1.0.2 (2023-07-25)

• New options to control solution quality and performance

  • Option to rerun optimization until valid solution or timeout (#53)

  • Option to keep optimizing after a valid solution was found (#46)

  • Approximate solution cost threshold (#51) and joint jump threshold parameters (#42)

  • Position scale parameter (#47)

• Fix ordering of joint limits when loading robot model (#54)

• Fix use of solution callback (#48)

• Remove unnecessary preprocessor macro (#40)

• Contributors: Marc Bestmann, Sebastian Castro, Erik Holum

1.0.1 (2023-03-28)

• Set Werror through CMake presets (#39)

• Replace lower_bounds with gt_eq (#37)

• Upgrade with new pkgs to fix issue with ROS

• Target include subdirectory

• Update Catch2 version to 3.3.0

• Fix overriding of package

• Fix orientation calculation in cost function and frame tests (#31)

  • Fix orientation calculation

  • Update plugin return values

  • Remove redundant (and incorrect) joints bounds check

  • Use Eigen angular distance calculation

• Small grammar fixes (#28)

• Contributors: Sebastian Castro, Stephanie Eng, Tyler Weaver

1.0.0 (2022-12-08)

• pick_ik inverse kinematics plugin compatible with MoveIt 2

• Numeric gradient descent (local) solver

• Memetic algorithm (global solver), configurable for single or multi-threading

• Basic goal functions: joint centering, avoid joint limits, minimal joint displacement

• Support for position-only IK and approximate solutions

• Dynamic parameter switching at runtime using generate_parameter_library

• Docker devcontainer workflow for VSCode

• Contributors: Chris Thrasher, Sebastian Castro, Tyler Weaver