v0.7.0-beta

• Added reset method and only_core option to solve method.
• Improved documentation in README

v0.6.0-beta

First release of LivelyTK!

v0.4.0-beta

Changed structure of starting config field to handle robots not fixed to the origin

v0.3.0-beta

• Goals can specify a pose (for position bounding)
• Incorporated relaxedIK's 'solve_preciseinto livelyIK'ssolve` function, instead allowing the specification of num_retries
• Added Gravity objective
• Added PositionBounding objective
• Added Smoothness macro objective (wraps velocity, acceleration, and jerk minimization)
• Fixed: EnvCollision objective now correctly receives its arm argument when constructing ObjectiveMaste

v0.2.0-beta

• Added support for storing goals

v0.1.3-beta

This release includes the following:

• bug fixes
• cartesian-based objectives can now specify non-end-effector joints, when applicable
• added the relative motion liveliness objective

v0.1.2-beta

Some refinements and reduction of redundancy

v0.1.0-beta

First pre-release beta of LivelyIK Core