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check start state validity and minor fixes

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Balakumar Sundaralingam
2024-05-14 22:16:12 -07:00
parent 7196be75f5
commit 911da8cb24
8 changed files with 175 additions and 44 deletions
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CHANGELOG.md
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@@ -12,9 +12,17 @@ its affiliates is strictly prohibited.
## Latest Commit
### New Features
- Added validity of start state check for motion_gen plan calls for single queries.
### BugFixes & Misc.
- Fix bug in evaluator to account for dof maximum acceleration and jerk.
- Add unit test for different acceleration and jerk limits.
- Add a check in self-collision kernels to avoid computing over inactive threads.
- Add `link_poses` as an additional property to kinematics to be more descriptive.
- Add `g_dim` check for `int` in batched planning.
- Add `link_poses` for motion_gen.warmup() in batch planning mode.
- Add `link_poses` as input to `batch_goalset`.
## Version 0.7.2