Merge remote-tracking branch 'origin/1.8.0' into 1.8.0

bourumir-wyngs · Jan 22, 2025 · af4757b · af4757b
2 parents 9d5eff8 + 0151155
commit af4757b
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diff --git a/Cargo.lock b/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
@@ -5,7 +5,7 @@ autoexamples = true
 edition = "2021"
 authors = ["Bourumir Wyngs <bourumir.wyngs [at] gmail.com>"]
 description = "Inverse and forward kinematics for 6 axis robots with a parallel base and spherical wrist."
-keywords = ["robotics", "kinematics", "path-planning", "ik", "opw"]
+keywords = ["robotics", "kinematics", "path-planning", "collisions", "opw"]
 categories = ["science::robotics", "algorithms"]
 
 license = "BSD-3-Clause"
@@ -36,7 +36,7 @@ parry3d = { version = "0.17", optional = true }
 rayon = { version = "1.10", optional = true }
 
 # For loading meshes, needed for collision and visualization
-ply-rs-bw = { version = "1.0", optional = true } # patched ply-rs
+ply-rs-bw = { version = "2.0", optional = true } # patched ply-rs
 stl_io = { version = "0.8", optional = true }
 
 # Needed for visualization. Only relevant packages are included.

diff --git a/README.md b/README.md
@@ -12,6 +12,8 @@ planning.
 
 <img src="https://github.com/user-attachments/assets/64cf952a-93b0-4a69-ba6f-d3e98b1cee25" alt="screenshot" width="300"/>
 
+See also [video produced with RViz under ROS2](https://www.youtube.com/watch?v=CVZ9CFt_QMM)
+
 # Intro
 
 This work builds upon the 2014 paper titled _An Analytical Solution of the Inverse Kinematics Problem of Industrial
-Original file line number
+Diff line change
@@ Expand Up / @@ -12,6 +12,8 @@ planning. @@
     <img src="https://github.com/user-attachments/assets/64cf952a-93b0-4a69-ba6f-d3e98b1cee25" alt="screenshot" width="300"/>
+    See also [video produced with RViz under ROS2](https://www.youtube.com/watch?v=CVZ9CFt_QMM)
     # Intro
     This work builds upon the 2014 paper titled _An Analytical Solution of the Inverse Kinematics Problem of Industrial
@@ Expand Down @@