^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package moveit_task_constructor_core ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.1.4 (2025-10-15) ------------------ * Avoid duplicate scenes in Solution.msg from generator stages (`#639 `_) * Allow max Cartesian link speed in PlannerInterface (`#277 `_) * Enable collisions visualizations (`#708 `_) * LimitSolutions wrapper stage (`#710 `_) * Improve code documentation * CI: Fix Noble builds * Pick with custom max_velocity_scaling_factor during approach+lift * Rework pybind11 ABI compatibility checks * Remove pybind11 submodule * Upgrade pybind11 to v3 * Modernize declaration of compile options * Factor out Python property handling to allow for reuse in custom Python wrappers * Fix clamping of joint constraints (`#665 `_) * Correctly report failures instead of issueing console warnings * Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04 * Python API: Allow passing a task's introspection object to SolutionBase::toMsg() * clang-format-14 * Add support for GenerateRandomPose * python: Add Task::setRobotModel * Add path_constraints property to Connect stage * provide a fmt wrapper (`#615 `_) * Update API: JumpThreshold -> CartesianPrecision (`#611 `_) * Reduce stop time due to preempt (`#598 `_) * Add unittest for `#581 `_ * Fix early planning preemption (`#597 `_) * MoveRelative: fix segfault on empty trajectory (`#595 `_) * MoveRelative: handle equal min/max distance (`#593 `_) * Cleanup unit tests and allow them to run via both, cmdline and pytest * Connect: Relax validity check of reached end state * Unify Python demo scripts * Switch shebang to python3 * Silence gcc's overloaded-virtual warnings * Add property to enable/disable pruning at runtime (`#590 `_) * Disable pruning by default * test_pruning.cpp: Add new test * test_pruning.cpp: Extend test to ParallelContainer * PassThrough: cleanup unused headers * Avoid segfault if TimeParameterization is not set * CartesianPath: allow ik_frame definition if start and end are given as joint-space poses * Generalize utils::getRobotTipForFrame() to return error_msg instead of calling markAsFailure() on a solution * ComputeIK: Allow additional constraints for filtering solutions (`#464 `_) * Expose MultiPlanner to Python (`#474 `_) * Add unittest cartesianCollisionMinMaxDistance (`#538 `_) * Simplify formatting code with https://github.com/fmtlib (`#499 `_) * Add NoOp stage (`#534 `_) * ModifyPlanningScene: check state for collisions * Improve TypeError exceptions * Drop Melodic support * Switch to package py_binding_tools * Add ability to move CollisionObjects (`#567 `_) * Improve description of max_distance property of Connect stage (`#564 `_) * Add Generator::spawn(from, to, trajectory) variant (`#546 `_) * Cosmetic fixes * Fix Solution::fillMessage() (`#432 `_) * Fix generation of Solution msg: consider backward operation * Propagate errors from planners to solution comment (`#525 `_) * JointInterpolationPlanner: Check joint bounds (`#505 `_) * Add property trajectory_execution_info (`#355 `_, `#502 `_) * Clear JointStates in scene diff (`#504 `_) * Set a non-infinite default timeout in CurrentState stage (`#491 `_) * Add GenerateRandomPose stage (`#166 `_) * GenerateGraspPose: Expose rotation_axis as property (`#535 `_) * Connect: ensure end-state matches goal state (`#532 `_) * Fix discontinuity in trajectory (`#485 `_) * Adaptions for https://github.com/ros-planning/moveit/pull/3534 * Cleanup debug output * Fix duplicate solutions * printPendingPairs(os) -> os<`_ * DelayingWrapper stage to delay solution shipping in unit tests * Simplify tests * Skip Fallbacks::replaceImpl() when already correctly initialized (`#494 `_) * Fix demos (`#493 `_) * Limit time to wait for execute_task_solution action server * Replace namespace robot\_[model|state] with moveit::core * MPS: fixup processCollisionObject * Merge PR `#460 `_: improvements to ModifyPlanningScene stage * Gracefully handle NULL robot_trajectory (`#469 `_) * introspection: remove any invalid ROS-name chars from hostname (`#465 `_) * Fix SolutionBase::fillMessage(): also write start_scene * Fix add/remove object in backward operation * Add python binding for ModifyPlanningScene::removeObject * ComputeIK: update RobotState before calling setFromIK() * Use pluginlib consistently (`#463 `_) * Expose argument of PipelinePlanner's constructor to Python (`#462 `_) * Fix allowCollisions(object, enable_collision) * TestModifyPlanningScene * Basic Move test: MoveRelative + MoveTo * Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool) * Add python binding for Task::insert * Add Stage::explainFailure() (`#445 `_) * Improve documentation (`#431 `_) * JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (`#458 `_) * Task: findChild() and operator[] should directly operate on stages() (`#435 `_) * Contributors: Abishalini, Ali Haider, Captain Yoshi, Daniel García López, Gauthier Hentz, Henning Kayser, JafarAbdi, Michael Görner, Michael Wiznitzer, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, VideoSystemsTech 0.1.3 (2023-03-06) ------------------ * MoveRelative: Allow backwards operation for joint-space delta (`#436 `_) * ComputeIK: Limit collision checking to JMG (`#428 `_) * Fix: Fetch pybind11 submodule if not yet present * Contributors: Robert Haschke 0.1.2 (2023-02-24) ------------------ * Remove moveit/__init__.py during .deb builds to avoid installation conflicts * MultiPlanner solver (`#429 `_): a planner that tries multiple planners in sequence * CartesianPath: Deprecate redundant property setters * PlannerInterface: provide "timeout" property * PlannerInterface: provide setters for properties * JointInterpolation: fix timeout handling * Contributors: Robert Haschke 0.1.1 (2023-02-15) ------------------ * Resort to MoveIt's python tools * Provide ComputeIK.ik_frame as full PoseStamped * Fixed build farm issues * Removed unused eigen_conversions includes * Fixed odr compiler warning on Buster * Fixed missing dependency declarations * Contributors: Robert Haschke 0.1.0 (2023-02-02) ------------------ * Initial release * Contributors: Michael Görner, Robert Haschke, Captain Yoshi, Christian Petersmeier, Henning Kayser, Jafar Abdi, Tyler Weaver