v0.1.0

MPlib 0.1.0 Release Notes

Features:

• Path simplification added and its API exposed
• Better documentation on point cloud radius and how this param can be used to create a safety buffer for collision
• Added standalone collision checking API to planner.py
• Gave user the ability to add/remove non-articulated objects from the scene rather than relying solely on point cloud for changing scene
• Introduced an API to center the articulated model at a different origin. Future planning requests can either be specified w.r.t. new robot base or w.r.t. world
• Planning with certain joints fixed. This is useful if you want the planning to be done in stages where in one stage only certain joints should move
• General constrained planning for robots not having continuous joints. Pass in a constrained function as well as its jacobian and the planner will plan by projecting a proposed joint configuration into a feasible configuration with newton's method
• Documentation for all the mplib modules. We have already exposed a lot of the functionalities using pybind. However, previous these functionalities were not documented.
• Different messages are now printed with different colors. E.g. erros in red, info in blue, warning in yellow, etc.

There has also been misc bug fixes.

What's Changed

• Collision api by @Lexseal in #28
• added path simplification and ability to use RRT* by @Lexseal in #22
• Pointcloud volume by @Lexseal in #25
• Index out of range error by @Lexseal in #35
• Change Capsule to Cylinder by @Lexseal in #44
• Documentation by @Lexseal in #45
• Ability to modify the non-articulated objects in the scene by @Lexseal in #30
• setting origin for articulation by @Lexseal in #31
• expose path simplification api by @Lexseal in #48
• Constrained planning by @Lexseal in #46
• Added the ability to plan with certain joints fixed by @Lexseal in #29
• default to current dir if user does not provide any dir by @Lexseal in #50
• added warning for abnormally sized mesh by @Lexseal in #52

Full Changelog: v0.0.9...v0.1.0