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Release Notes

v0.2.15

Bug Fixes

Fix "Start configuration is in collision" Error

The robot's zero configuration was falsely detected as in collision with environment:

  • Moved ground plane from z=-0.01 to z=-0.05 to clear robot base
  • Moved table further away (x=0.6) and lower (z=0.3) to avoid arm collisions
  • Updated box_obstacle position to [0.4, 0.3, 0.5] with smaller size
  • Applied same fixes to both planning_scene_op.py and planner_ompl_with_collision_op.py

v0.2.14

Improvements

Better Initial Poses for MuJoCo Demo

Updated motion_commander.py with more reachable target configurations:

  • Home position now starts at [0, 0, 0, -1.57, 0, 1.57, 0] (arm centered, easy to plan from)
  • Simplified pick/place sequence with smaller joint movements
  • All poses verified to be within Panda joint limits

v0.2.13

Bug Fixes

1. MuJoCo Joint Array Shape Mismatch (9 vs 7 joints)

MuJoCo simulator sends 9 joint values (7 arm + 2 gripper fingers), but planner expects 7:

  • motion_commander.py: Truncate joint positions to first 7 arm joints before planning
  • trajectory_executor.py: Truncate joint positions to first 7 arm joints for interpolation

2. Repeated Obstacle Additions on Scene Sync

Scene updates were being processed redundantly on every tick:

  • planner_ompl_with_collision_op.py: Track scene version to skip already-processed updates
  • collision_check_op.py: Track scene version to skip already-processed updates

v0.2.12

Bug Fixes

1. Unicode Encoding Errors (Windows GBK codec)

Replaced all emoji characters with ASCII text for Windows compatibility:

  • ik_op.py: Replaced checkmark/cross emojis with SUCCESS/FAILED
  • planner_ompl_with_collision_op.py: Replaced checkmark/cross emojis with SUCCESS/FAILED
  • collision_check_op.py: Replaced status emojis with COLLISION/CLEAR
  • demo_node.py: Replaced emojis with [OK]/[FAIL]/[COLLISION]/[CLEAR]
  • motion_commander.py: Removed all emoji characters
  • collision_lib.py: Replaced checkmark emoji with [OK]

2. Scene Update Parsing Error ('object' key missing)

Fixed scene update handling in collision_check_op.py and planner_ompl_with_collision_op.py:

  • Now supports both full scene broadcasts ({"world_objects": [...]}) and single object commands ({"action": "add", "object": {...}})
  • Full scene sync clears and rebuilds all obstacles from planning_scene_op.py broadcasts
  • Single object commands continue to work for incremental updates