# Changelog
## [4.0.8] - 2025-05-19
### Changed
- Update copyright and license to apache v2.0

## [4.0.7] - 2025-04-15
### Changed
- Update for ABI=1 change

## [4.0.6] - 2025-04-04
### Changed
- Version bump to fix extension publishing issues

## [4.0.5] - 2025-03-26
### Changed
- Cleanup and standardize extension.toml, update code formatting for all code

## [4.0.4] - 2025-01-21
### Changed
- Update extension description and add extension specific test settings

## [4.0.3] - 2024-12-01
### Changed
- Make extension python version specific

## [4.0.2] - 2024-10-28
### Changed
- Remove test imports from runtime

## [4.0.1] - 2024-10-24
### Changed
- Updated dependencies and imports after renaming

## [4.0.0] - 2024-09-27
### Changed
- Extension renamed to isaacsim.robot_motion.lula

## [3.0.1] - 2024-04-25
### Changed
- Upgraded Lula from release 0.10.0 to 0.10.1.  This fixes a bug in the global planner interface introduced in 0.10.0 that caused a fatal error to be logged when a path couldn't be found.

## [3.0.0] - 2024-04-15
### Changed
- Upgraded Lula from release 0.9.1 to 0.10.0.  This new version includes a much-improved collision sphere generator and enhancements to the task-space global planner (JT-RRT), including support for full-pose targets and improved performance.  The global planner enhancements entail some parameter changes that break backward compatibility, as does a generalization of the kinematics API to support cases where only a subset of c-space coordinates have acceleration and/or jerk limits.

## [2.1.0] - 2023-08-22
### Changed
- Upgraded Lula from release 0.9.0 to release 0.9.1.  This adds support for prefixing Lula log messages with a user-provided string and also improves behavior of the IK solver for revolute joints that have a large span between their upper and lower joint limits (i.e., larger than 2 pi).
- Added "[Lula]" prefix to all Lula log messages.

## [2.0.0] - 2023-08-06
### Changed
- Upgraded Lula from release 0.8.2 to release 0.9.0.  This new version includes a major overhaul of inverse kinematics (IK), improving performance and robustness via many performance optimizations and the addition of a BFGS solver used to refine the solution produced by the existing cyclic coordinate descent (CCD) solver.  The names of certain parameters in the `CyclicCoordDescentIkConfig` struct have changed, breaking backward compatibility.  This update also includes the fix for a bug that could affect CCD convergence and the addition of "mimic joint" support throughout.

## [1.4.1] - 2023-04-27
### Fixed
- Added a workaround for a DLL loading issue under Windows that manifested when using the new "FastImporter" in Omniverse Kit 105.

## [1.4.0] - 2023-02-23
### Changed
- Upgraded Lula from release 0.8.1 to release 0.8.2.  This fixes a bug in the trajectory generator's task-space path conversion that could result in suboptimal interpolation of orientations.  In addition, a new option was added to the trajectory generator allowing user specification of time values at waypoints.

## [1.3.1] - 2022-11-30
### Changed
- Upgraded Lula from release 0.8.0 to release 0.8.1, fixing a couple minor bugs and adding a `__version__` string to the Lula python module.

## [1.3.0] - 2022-11-16
### Changed
- Upgraded Lula from release 0.7.1 to 0.8.0.  Among other improvements, this adds a flexible trajectory generator and collision sphere generator.  In addition, the robot description file format has been simplified, with "root_link" and "cspace_to_urdf_rules" now optional and "composite_task_spaces" and "subtree_root_link" removed/ignored.

## [1.2.1] - 2022-10-09
### Fixed
- Issue where linux version of extension was being loaded on windows

## [1.2.0] - 2022-10-06
### Changed
- Changed default log level to WARNING

## [1.1.0] - 2022-04-16
### Changed
- Removed wheel from extension, provide installed wheel as part of extension instead. This removes the need for runtime installation.

## [1.0.0] - 2022-01-13
### Changed
- Updated Lula from release 0.7.0 to 0.7.1.  This fixes a bug in Lula's kinematics that had the potential to cause a segfault for certain robots.

## [0.1.0] - 2021-09-20
### Added
- Initial version of Isaac Sim Lula Extension
