0.2.0

Highlights

• New roboplan_oink package with an experimental Optimal Inverse Kinematics (OInK) solver -- thanks to @sjahr!
• Support for multiple frames in simple inverse kinematics solver.
• Improvements to build and packaging for ROS and conda workflows, enabling conda support for linux and macOS in x86_64 and arm64 architectures.

dual_arm_ik.webm

What's Changed

• Add GSoC 2026 project ideas by @sea-bass in #116
• [pixi] Rely on conda-forge versions of xacro and libtoppra by @sea-bass in #117
• Document conda workflow in getting started docs by @sea-bass in #118
• Optimal differential IK solver by @sjahr in #110
• Aggregated Init SimpleIkOptions and RRTOptions constructor bindings by @sjahr in #120
• Increase CI timeouts by @sea-bass in #121
• Remove lambdas from oink python bindings and use Eigen::Ref by @sjahr in #119
• Fix usage of tinyxml2 and tl_expected dependencies by @sea-bass in #124
• Update .pyi files after oink addition by @sea-bass in #127
• Support multiple tip frames in simple IK by @sea-bass in #125
• Separates 6D IK error tolerance into linear (meters) and angular (radians) components by @kumar-sanjeeev in #128
• Simplify FrameTask interface and allow modifying target transforms at runtime by @sea-bass in #131
• Upgrade viser in pixi setup by @sea-bass in #134
• Expose oink solver regularization as argument by @sjahr in #136
• Fix oink bindings by @sjahr in #137
• Add cmake option to generate Python stubs by @sea-bass in #133
• Use nanobind from pip install for ament workflows by @eholum in #138
• 0.2.0 by @sea-bass in #135

New Contributors

• @kumar-sanjeeev made their first contribution in #128

Full Changelog: 0.1.0...0.2.0