Event
sscbirrt v3.7.0/v3.7.1 released
2 reports · 1 sources
personalrobotics released sscbirrt v3.7.0, enabling pose-goal (TSR and TSR-chain) planning in the C++ backend for all robot-arm families natively supported by SSIK (6R and 7R). Previously only UR robot arms ran natively; every pose goal for JACO2, Panda, and iiwa fell back to the Python backend. In obstacle-free probing, pose goals for these three robot arms using C++ planning were 14–19 times faster than the Python backend. This version requires ssik>=8.2,<9 (previously >=7.0,<8). The accompanying ssik 8.2 caches the general-6R preparation step; after the cache is warmed, the first query for a runtime-built JACO2 no longer takes about 30 seconds (personalrobotics/ssik#708). The subsequently released v3.7.1 fixes the ImportError raised by sscbirrt.backends.ssik when ssik is missing; this issue arose starting with 3.7.0 because the dependency named an old version range >=7 and itself had no version range (#226).
Developments
- sscbirrt v3.7.1 released · 1 reports
- personalrobotics/sscbirrt v3.7.0 released: native planning for the entire SSIK family, pose goals 14–19x faster · 1 reports
Report timeline
- sscbirrt v3.7.1 released
personalrobotics has released sscbirrt v3.7.1, which fixes the ImportError raised by sscbirrt.backends.ssik when ssik is missing. The issue arose starting in 3.7.0 because the dependency named an old version range >=7,=8.2,<9 and had no version range of its own (#226).
GitHub Robotics Topic ·
- personalrobotics/sscbirrt v3.7.0 released: native planning for the entire SSIK family, pose goals 14–19x faster
sscbirrt v3.7.0 lets every SSIK family run natively; pose goals on the JACO2, Panda, and iiwa now plan in C++, 14–19x faster than the Python backend in an obstacle-free probe.
GitHub Robotics Topic ·