vamp-planner - v0.6.0 - Python API Update

Minor overhaul of the Python bindings to support more robots, and updated the Python API to support both lists and numpy arrays. There are also some minor fixes to AORRTC to address edge case bugs.

What's Changed

• Optionally compile the Python module by @zkingston in https://github.com/KavrakiLab/vamp/pull/49
• AORRTC Segfault and Edge Case Fixes by @zkingston in https://github.com/KavrakiLab/vamp/pull/50
• Modularized robot modules for Python bindings by @zkingston in https://github.com/KavrakiLab/vamp/pull/51
• AORRTC Clean-up + Additional Options + Handling edge cases by @zkingston in https://github.com/KavrakiLab/vamp/pull/52
• Add filterselffrom_pointcloud back to bindings by @zkingston in https://github.com/KavrakiLab/vamp/pull/53

Full Changelog: https://github.com/KavrakiLab/vamp/compare/v0.5.0...v0.6.0

- C++
Published by zkingston 8 months ago

vamp-planner - AORRTC Release

This release includes the implementation of Asymptotically Optimal RRT-Connect. This is an asymptotically optimal motion planner that provides state-of-the-art performance and finds initial solutions as fast as RRT-Connect. There have also been a number of fixes and API changes.

What's Changed

• Fix: matrix-vector multiplication for rotation in Attachment::pose by @agarret7 in https://github.com/KavrakiLab/vamp/pull/37
• Add basic C++ example of VAMP usage by @zkingston in https://github.com/KavrakiLab/vamp/pull/38
• fix: Check if robot configuration is in bounds in Python validate function by @zkingston in https://github.com/KavrakiLab/vamp/pull/39
• add demonstration GIF from CAPT work to README by @claytonwramsey in https://github.com/KavrakiLab/vamp/pull/42
• fix: Fixes to all_true in SIMD wrapper and handling uninitialized memory in validate by @zkingston in https://github.com/KavrakiLab/vamp/pull/44
• Remove ubuntu 20.04 workflow runner by @zkingston in https://github.com/KavrakiLab/vamp/pull/46
• Made interpolation on path more clearly defined by @zkingston in https://github.com/KavrakiLab/vamp/pull/45
• Add Asymptotically Optimal RRT-Connect (AORRTC) by @twill777 in https://github.com/KavrakiLab/vamp/pull/47

New Contributors

• @agarret7 made their first contribution in https://github.com/KavrakiLab/vamp/pull/37
• @claytonwramsey made their first contribution in https://github.com/KavrakiLab/vamp/pull/42
• @twill777 made their first contribution in https://github.com/KavrakiLab/vamp/pull/47

Full Changelog: https://github.com/KavrakiLab/vamp/compare/v0.4.0...v0.5.0

- C++
Published by zkingston 8 months ago

vamp-planner - v0.4.0 - FCIT* Release

This release includes the implementation of the Fully-Connected Informed Tree (FCIT*) planner from https://arxiv.org/pdf/2411.17902. This is an asymptotically optimal motion planner that provides state-of-the-art performance on the MotionBenchMaker dataset. There have also been changes to the RNG API to enable better randomization of multiple trials.

What's Changed

• Fix typo bug with vreinterpretq + CI improvements by @wbthomason in https://github.com/KavrakiLab/vamp/pull/21
• Add support for filtering NDArray pointclouds by @wbthomason in https://github.com/KavrakiLab/vamp/pull/23
• fix: explicitly use float32 for numpy typing by @zkingston in https://github.com/KavrakiLab/vamp/pull/27
• feat: RNG is now a planner argument, expose XORShift generation by @zkingston in https://github.com/KavrakiLab/vamp/pull/29
• Add the FCIT* asymptotically optimal motion planner by @zkingston in https://github.com/KavrakiLab/vamp/pull/35

Full Changelog: https://github.com/KavrakiLab/vamp/compare/v0.3.0...v0.4.0

- C++
Published by zkingston about 1 year ago

vamp-planner - v0.3.0 - End-effector Attachments

What's Changed

• Add support to add custom end-effector attachments for Panda, UR5, and Fetch in https://github.com/KavrakiLab/vamp/pull/18
• Example OMPL Integration Script in https://github.com/KavrakiLab/vamp/pull/16
• Various bug fixes

Attachments

See the scripts/atttachments.py for an example of how to attach custom geometry to the end-effectors of the UR5, Panda, and Fetch robots.

- C++
Published by zkingston over 1 year ago

vamp-planner - Initial CAPT Release

This release contains the implementation of the Collision-Affording Point Tree (CAPT) from the forthcoming RSS 2024 paper “Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking” (http://arxiv.org/abs/2406.02807). The CAPT enables fast collision checking of our spherized robot models against pointcloud data, and has an average query time of less than 10 nanoseconds on 3D scenes composed of thousands of points.

- C++
Published by zkingston over 1 year ago

vamp-planner - Initial Release

- C++
Published by zkingston almost 2 years ago