v0.2.0

Note: This release is a proof of concept of everything this repository sets out to do, minus the mesh-based gripper sampler. Seam extraction, grasp sampling, kinematics validation, and dual-robot execution are all in and working. The roadmap takes it from here.

New Packages

hold_and_weld_gripper_sampler:

Repeatable, constraint-aware grasp sampling library built on OpenCASCADE. Features geometrically exact contact point computation, a four-phase approach validation pipeline (radial map, clustering, collision checking, self-collision checking), and a plugin system for filters and constraints.

hold_and_weld_bringup:

launch files and system bringup for the full dual-robot workcell.

Udates

hold_and_weld_planning

• OCCT-based seam extractor is now stable for butt, fillet, and lap joint types
• Mesh-based seam extractor implemented using CGAL corefinement with adjacency graph chaining, corner detection, B-spline smoothing, and line/arc classification
• Dual extractor modes: edge-to-edge and edge-to-surface, determined automatically from seam extractor output

hold_and_weld_application

• Custom kinematics stack independent of MoveIt 2: URDFParser, KinematicsSolver, CeresIKSolver, ApproachValidator
• Approach validation via static IK walk with manipulability checking before each seam execution
• Both action servers implemented as ROS 2 lifecycle nodes

v0.1.0: First fixed full working version

First end to end fully working version. First fully styled version. First Geometry engine version.