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Changelog

All notable changes to kinetic are documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Added

  • PlannerOutputInvalid error variant for safety gate failures
  • SingularityLockup error variant for servo singularity detection
  • DimensionMismatch error variant with context string
  • IKSolution.degraded flag for solver fallback detection
  • IKSolution.condition_number for singularity proximity monitoring
  • ExecutionConfig::safe() constructor with auto-configured safety
  • SafetyWatchdog for real-time execution monitoring
  • PlanExecuteLoop for automatic replanning on failure

[0.1.0] - 2026-03-29

Initial release of the kinetic motion planning library.

Added

Core (kinetic-core)

  • Pose, JointValues, Trajectory, Goal, Constraint types
  • KineticError with 20+ variants and is_retryable()/is_input_error()
  • PlannerConfig with default(), realtime(), offline() presets
  • FrameTree and StampedTransform for coordinate frame management
  • Twist and Wrench spatial vector types

Robot (kinetic-robot)

  • URDF parser with full joint/link/collision geometry support
  • SRDF parser for planning groups and collision pairs
  • MJCF and SDF loaders
  • 52 built-in robot configurations
  • Robot::from_name(), Robot::from_urdf(), Robot::from_path()
  • kinetic.toml configuration format

Kinematics (kinetic-kinematics)

  • Forward kinematics (forward_kinematics, forward_kinematics_all)
  • Jacobian computation (jacobian)
  • Manipulability index (manipulability)
  • 6 IK solvers: DLS, FABRIK, OPW, Subproblem, Subproblem7DOF, BioIK
  • Cached IK solver for repeated queries
  • IKFast codegen support
  • Batch IK (solve_ik_batch)
  • Workspace analysis (ReachabilityMap)

Collision (kinetic-collision)

  • SIMD-vectorized sphere-sphere collision (AVX-512/AVX2/SSE4.1)
  • CAPT broadphase acceleration
  • RobotSphereModel with SphereGenConfig (coarse/default/fine)
  • CollisionEnvironment with margin-based checking
  • AllowedCollisionMatrix for self-collision filtering
  • Contact point computation

Planning (kinetic-planning)

  • 8 sampling-based planners: RRT-Connect, RRT*, BiRRT*, BiTRRT, EST, KPIECE, PRM, GCS
  • Constrained RRT with orientation/position constraints
  • Cartesian planner (linear and arc paths)
  • Dual-arm planner (Independent, Synchronized, Coordinated modes)
  • Path shortcutting and B-spline smoothing
  • Planner facade with auto chain detection
  • PlannerType enum for algorithm selection
  • One-line plan() convenience function
  • PlanningPipeline with pre/post-processors and planner racing

Trajectory (kinetic-trajectory)

  • Trapezoidal time parameterization
  • TOTP (Time-Optimal Path Parameterization)
  • Jerk-limited S-curve profiles
  • Cubic spline interpolation
  • Trajectory blending
  • CSV and JSON import/export
  • TrajectoryValidator with per-joint limit checking
  • ExecutionMonitor with deviation detection

Scene (kinetic-scene)

  • Collision object management (add, remove, attach, detach)
  • Shape primitives: Cuboid, Cylinder, Sphere, HalfSpace
  • Point cloud ingestion with voxel downsampling
  • Depth image to point cloud conversion
  • Octree spatial indexing
  • Outlier removal (statistical and radius)

Reactive (kinetic-reactive)

  • Servo controller (Twist, JointJog, PoseTracking modes)
  • ServoConfig presets: teleop, tracking, precise
  • Riemannian Motion Policies (RMP)
  • Collision deceleration
  • Singularity avoidance
  • Smoothing filters (EMA, Butterworth)

Task (kinetic-task)

  • Pick and Place task planning
  • Multi-stage task sequencing
  • Grasp generation
  • Approach/retreat motion primitives
  • Gripper command integration

GPU (kinetic-gpu)

  • cuRobo-style parallel trajectory optimization via wgpu
  • Batch FK on GPU
  • GPU collision checking with SDF
  • GpuConfig presets: balanced, speed, quality
  • CpuOptimizer fallback for non-GPU environments

Execution (kinetic-execution)

  • CommandSink trait for hardware drivers
  • FeedbackSource trait for encoder reading
  • RealTimeExecutor with 500 Hz command streaming
  • SimExecutor for testing without hardware
  • LogExecutor for recording commanded trajectories
  • SafetyWatchdog with configurable timeout actions

HORUS Bridge (horus-kinetic)

  • PlannerNode for motion planning via HORUS IPC
  • ServoNode for reactive control via HORUS IPC
  • SceneNode for collision world via HORUS IPC
  • Channel-based API for standalone use

Python (kinetic-python)

  • PyO3 bindings with numpy interop
  • Robot, Planner, Scene, Servo, Task, Trajectory classes
  • One-line kinetic.plan() function
  • Grasp generation and gripper types
  • Frame tree management

Supported Robots (52)

ABB IRB1200, ABB IRB4600, ABB YuMi (left/right), ALOHA (left/right), Baxter (left/right), Denso VS068, Dobot CR5, Elite EC66, Fanuc CRX-10iA, Fanuc LR Mate 200iD, Fetch, Flexiv Rizon4, Franka Panda, Jaco2 6DOF, Kinova Gen3, Kinova Gen3 Lite, Koch v1, KUKA iiwa7, KUKA iiwa14, KUKA KR6, LeRobot SO-100, Meca500, myCobot 280, Niryo Ned2, Open Manipulator X, Open Manipulator P, PR2, Sawyer, SO-ARM100, Staubli TX2-60, Stretch RE2, Techman TM5-700, TIAGo, Trossen PX100, Trossen RX150, Trossen WX250s, UR3e, UR5e, UR10e, UR16e, UR20, UR30, ViperX 300, WidowX 250, xArm5, xArm6, xArm7, Yaskawa GP7, Yaskawa HC10.