v0.6.1

What's Changed

• [RSDK-10873] Pin the docker version for CI by Andrew C. Morrow (@acmorrow) in #212
• [RSDK-14052] Don't fail the build on unknown warning options by Andrew C. Morrow (@acmorrow) in #213
• RSDK-13902 - Augment model tables + fix 3dmodels endpoint by Nick Franczak (@nfranczak) in #209
• RSDK-14030 - place dockerfile on v0.38.0 of the viam-cpp-sdk by Nick Franczak (@nfranczak) in #214
• [RSDK-14030] Use github runners by Andrew C. Morrow (@acmorrow) in #215
• RSDK-14032 - update viam-cpp-sdk to v38 by Nick Franczak (@nfranczak) in #211
• [RSDK-14078] Upgrade UR trajex to 0.100.1-rc2 by Andrew C. Morrow (@acmorrow) in #216
• [RSDK-14078] Upgrade trajex to 0.100.1 by Andrew C. Morrow (@acmorrow) in #217

Full Changelog: v0.6.0...v0.6.1

v0.6.1-rc1

What's Changed

• [RSDK-10873] Pin the docker version for CI by Andrew C. Morrow (@acmorrow) in #212
• [RSDK-14052] Don't fail the build on unknown warning options by Andrew C. Morrow (@acmorrow) in #213
• RSDK-13902 - Augment model tables + fix 3dmodels endpoint by Nick Franczak (@nfranczak) in #209
• RSDK-14030 - place dockerfile on v0.38.0 of the viam-cpp-sdk by Nick Franczak (@nfranczak) in #214
• [RSDK-14030] Use github runners by Andrew C. Morrow (@acmorrow) in #215
• RSDK-14032 - update viam-cpp-sdk to v38 by Nick Franczak (@nfranczak) in #211
• [RSDK-14078] Upgrade UR trajex to 0.100.1-rc2 by Andrew C. Morrow (@acmorrow) in #216

Full Changelog: v0.6.0...v0.6.1-rc1

v0.6.0

Universal Robots 0.6.0 Release Notes

Major Changes

The 0.6.0 release of the Universal Robots module is now generally available. Since the 0.5.0 release, the following major features have been delivered:

• The trajex trajectory generator is now used by default to convert waypoints into kinematic points. This includes generating acceleration values which are now forwarded to the arm driver. In the event the trajex generator is unable to produce a trajectory, the module will automatically fall back to the old generator. The new generator produces more accurate kinematic chains and can integrate trajectories that the old generator could not handle.

• On UR20 arms, the arm kinematics are adjusted to reflect the calibrated kinematics information stored on the arm controller, per RSDK-13899. We expect to add support for this feature on other UR arm models to an upcoming 0.6.x patch release.

• Logging of waypoints and realtime arm positions is now handled via one unified JSON output file, rather than being scattered among multiple disjoint outputs. See RSDK-13584 for more details.

Other Tickets of Interest

The complete list of tickets known to be resolved in this release can be found in the 0.6.0 Fix Version on JIRA. The majority of them relate to the trajectory generation and calibration work identified above. Other tickets of specific interest are called out here:

Bug

• RSDK-13266 Context cancellation does not stop actuation

Improvement

• RSDK-12645 Upgrade UR driver to URCL 2.6.0 or newer

• RSDK-13048 Set the macOS deployment target for universal robots builds to Sonoma

New Feature

• RSDK-13129 Acceleration and velocity limits in MoveOptions or DoCommand should be constrained by configured maxima

• RSDK-13362 Update existing URDFs to use meshes

v0.6.0-rc14

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189
• [RSDK-13506] Round trip tool for trajectory generation by Andrew C. Morrow (@acmorrow) in #191
• [RSDK-13624] Introduce support for randomized trajectory testing by Andrew C. Morrow (@acmorrow) in #192
• [RSDK-13585] Trajex has moved to https://github.com/viam-modules/trajex by Andrew C. Morrow (@acmorrow) in #193
• [RSDK-13667] Upgrade trajex in UR to 0.100.0-rc1 by Andrew C. Morrow (@acmorrow) in #195
• remove old plotting by JohnN193 in #200
• [RSDK-12645] Bump urcl by JohnN193 in #197
• bump to 2.10.0 by JohnN193 in #201
• [RSDK-13667] Update to trajex 0.100.0-rc2 by Andrew C. Morrow (@acmorrow) in #202
• [RSDK-13667] Update to trajex 0.100.0-rc3 by Andrew C. Morrow (@acmorrow) in #203
• [RSDK-13667] Update to trajex 0.100.0-rc4 by Andrew C. Morrow (@acmorrow) in #205
• Add realtime trajectory logging by Nicolas Menard (@npmenard) in #204
• [RSDK-13947] Disable cobalt in C++ SDK build by Andrew C. Morrow (@acmorrow) in #208
• RSDK-13899 - Construct new kinematics on module startup from calibrated DH parameters for ur20 model by Nick Franczak (@nfranczak) in #206

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.0...v0.6.0-rc14

v0.6.0-rc13

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189
• [RSDK-13506] Round trip tool for trajectory generation by Andrew C. Morrow (@acmorrow) in #191
• [RSDK-13624] Introduce support for randomized trajectory testing by Andrew C. Morrow (@acmorrow) in #192
• [RSDK-13585] Trajex has moved to https://github.com/viam-modules/trajex by Andrew C. Morrow (@acmorrow) in #193
• [RSDK-13667] Upgrade trajex in UR to 0.100.0-rc1 by Andrew C. Morrow (@acmorrow) in #195
• remove old plotting by JohnN193 in #200
• [RSDK-12645] Bump urcl by JohnN193 in #197
• bump to 2.10.0 by JohnN193 in #201
• [RSDK-13667] Update to trajex 0.100.0-rc2 by Andrew C. Morrow (@acmorrow) in #202
• [RSDK-13667] Update to trajex 0.100.0-rc3 by Andrew C. Morrow (@acmorrow) in #203
• [RSDK-13667] Update to trajex 0.100.0-rc4 by Andrew C. Morrow (@acmorrow) in #205
• Add realtime trajectory logging by Nicolas Menard (@npmenard) in #204
• [RSDK-13947] Disable cobalt in C++ SDK build by Andrew C. Morrow (@acmorrow) in #208

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.0...v0.6.0-rc13

v0.6.0-rc12

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189
• [RSDK-13506] Round trip tool for trajectory generation by Andrew C. Morrow (@acmorrow) in #191
• [RSDK-13624] Introduce support for randomized trajectory testing by Andrew C. Morrow (@acmorrow) in #192
• [RSDK-13585] Trajex has moved to https://github.com/viam-modules/trajex by Andrew C. Morrow (@acmorrow) in #193
• [RSDK-13667] Upgrade trajex in UR to 0.100.0-rc1 by Andrew C. Morrow (@acmorrow) in #195
• remove old plotting by JohnN193 in #200
• [RSDK-12645] Bump urcl by JohnN193 in #197
• bump to 2.10.0 by JohnN193 in #201
• [RSDK-13667] Update to trajex 0.100.0-rc2 by Andrew C. Morrow (@acmorrow) in #202
• [RSDK-13667] Update to trajex 0.100.0-rc3 by Andrew C. Morrow (@acmorrow) in #203
• [RSDK-13667] Update to trajex 0.100.0-rc4 by Andrew C. Morrow (@acmorrow) in #205
• Add realtime trajectory logging by Nicolas Menard (@npmenard) in #204

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.3...v0.6.0-rc12

v0.6.0-rc11

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189
• [RSDK-13506] Round trip tool for trajectory generation by Andrew C. Morrow (@acmorrow) in #191
• [RSDK-13624] Introduce support for randomized trajectory testing by Andrew C. Morrow (@acmorrow) in #192
• [RSDK-13585] Trajex has moved to https://github.com/viam-modules/trajex by Andrew C. Morrow (@acmorrow) in #193
• [RSDK-13667] Upgrade trajex in UR to 0.100.0-rc1 by Andrew C. Morrow (@acmorrow) in #195
• remove old plotting by JohnN193 in #200
• [RSDK-12645] Bump urcl by JohnN193 in #197
• bump to 2.10.0 by JohnN193 in #201
• [RSDK-13667] Update to trajex 0.100.0-rc2 by Andrew C. Morrow (@acmorrow) in #202
• [RSDK-13667] Update to trajex 0.100.0-rc3 by Andrew C. Morrow (@acmorrow) in #203
• [RSDK-13667] Update to trajex 0.100.0-rc4 by Andrew C. Morrow (@acmorrow) in #205

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.3...v0.6.0-rc11

v0.6.0-rc10

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189
• [RSDK-13506] Round trip tool for trajectory generation by Andrew C. Morrow (@acmorrow) in #191
• [RSDK-13624] Introduce support for randomized trajectory testing by Andrew C. Morrow (@acmorrow) in #192
• [RSDK-13585] Trajex has moved to https://github.com/viam-modules/trajex by Andrew C. Morrow (@acmorrow) in #193
• [RSDK-13667] Upgrade trajex in UR to 0.100.0-rc1 by Andrew C. Morrow (@acmorrow) in #195
• remove old plotting by JohnN193 in #200
• [RSDK-12645] Bump urcl by JohnN193 in #197
• bump to 2.10.0 by JohnN193 in #201
• [RSDK-13667] Update to trajex 0.100.0-rc2 by Andrew C. Morrow (@acmorrow) in #202
• [RSDK-13667] Update to trajex 0.100.0-rc3 by Andrew C. Morrow (@acmorrow) in #203

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.3...v0.6.0-rc10

v0.6.0-rc9

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189
• [RSDK-13506] Round trip tool for trajectory generation by Andrew C. Morrow (@acmorrow) in #191

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.0...v0.6.0-rc9

v0.6.0-rc8

What's Changed

• fix: update ur20 base link by Matthew MacFarquhar (@mattmacf98) in #152
• bump viz rdk by JohnN193 in #153
• plotting edits by JohnN193 in #123
• [RSDK-12710] Filter switching points by colimit by Andrew C. Morrow (@acmorrow) in #154
• [RSDK-12710] Fix CI, concepts, and dimensional issues in epsilon wrapper by Andrew C. Morrow (@acmorrow) in #155
• [RSDK-12992] Create event types for observers and propagate more information in the events by Andrew C. Morrow (@acmorrow) in #156
• fixes units bug with the acceleration value in move options by Brad Grigsby (@bgrigsby8) in #158
• [RSDK-12993] Validate test trajectories against bounds correctly by Andrew C. Morrow (@acmorrow) in #157
• [RSDK-13048] Build in macOS latest, but build for macOS Sonoma by Andrew C. Morrow (@acmorrow) in #159
• [RSDK-12979] Use zero accel when integrating at VII-A Case 2 switching points by Andrew C. Morrow (@acmorrow) in #160
• typo by Nicolas Menard (@npmenard) in #161
• [RSDK-13097] Increase default waypoint deduplication threshold by Andrew C. Morrow (@acmorrow) in #163
• [RSDK-13109] Always run trajex by default and log failed trajectories by Andrew C. Morrow (@acmorrow) in #164
• [RSDK-13129] Provide optional hard accel/vel limits that the configuration cannot exceed by Andrew C. Morrow (@acmorrow) in #165
• [RSDK-13266] Stop actuation on async cancel by Andrew C. Morrow (@acmorrow) in #166
• fixup: conan fussily wants an explicit grpc dependency now by Andrew C. Morrow (@acmorrow) in #167
• [RSDK-13294] Use linspace type algorithm for uniform sampler by Andrew C. Morrow (@acmorrow) in #168
• [RSDK-12994][RSDK-12982][RSDK-12708][RSDK-12709][RSDK-13002] Remove integration state machine by Andrew C. Morrow (@acmorrow) in #169
• [RSDK-12712][RSDK-12713] Implement support for visualizing observer events and integrate with testing by Andrew C. Morrow (@acmorrow) in #170
• [RSDK-12835] Restructure trajex into its own CMake project such that FetchContent can use it by Andrew C. Morrow (@acmorrow) in #171
• [RSDK-13357] support adding tags to ur module debug files by JohnN193 in #172
• [RSDK-12835] Implement segmentation and dedup using waypoint accumulator by Andrew C. Morrow (@acmorrow) in #173
• [RSDK-13416] make segmentation threshold configurable by JohnN193 in #174
• [RSDK-12835] Trajectory generation service and planner by Andrew C. Morrow (@acmorrow) in #176
• [RSDK-12835] CI and publication for the trajex service by Andrew C. Morrow (@acmorrow) in #177
• [RSDK-12835] Fix overzealous constness which was inhibiting a key move by Andrew C. Morrow (@acmorrow) in #178
• [RSDK-12711] Add tests for extremal paths by Andrew C. Morrow (@acmorrow) in #180
• [RSDK-13426] Implement feeding accels out of totg into arm by Andrew C. Morrow (@acmorrow) in #179
• improve logging of phase timings and move begin/end by Andrew C. Morrow (@acmorrow) in #181
• RSDK-13382: Velocity Switching Point Search Updates by Nick Franczak (@nfranczak) in #175
• RSDK-13362 - Update existing URDFs to use meshes by Nick Franczak (@nfranczak) in #182
• [RSDK-12981] Four defect fixes and a regression test by Andrew C. Morrow (@acmorrow) in #183
• [RSDK-13452] Add support for visualizing failed trajectories by Andrew C. Morrow (@acmorrow) in #185
• Update move options by Nicolas Menard (@npmenard) in #186
• [RSDK-12711] Handle path reversals without segmentation by Andrew C. Morrow (@acmorrow) in #187
• [RSDK-12711] Post extremal paths fixups by Andrew C. Morrow (@acmorrow) in #188
• [RSDK-13550] Apply colinearization before computing blends by Andrew C. Morrow (@acmorrow) in #189

New Contributors

• Brad Grigsby (@bgrigsby8) made their first contribution in #158

Full Changelog: v0.5.0...v0.6.0-rc8