Change Log

v1.7.0

2 Sep 2026

  1. Migrated the GUI tools from PyQt5 to PySide6 (Qt6). Scene Designer and Solver Viewer were reworked accordingly, and the minimum supported Python is back down to 3.10.

  2. Added light/dark theme support across both GUI tools, with themed stylesheets, new icons and bundled Qt resources. Scene and roadmap colors adapt to the active theme.

  3. Reworked the CGALPY bindings to load two builds side by side: segment traits (default, Aos2) and circle-segment traits (As2, exported under the _circle suffix), so circular arcs and Minkowski sums are both available. Bindings now come from the TAU-CGL/cgal-python-bindings repository.

  4. Added an install.py entry point that handles both source and wheel installations, plus a scripts/build_cgal_variants.py script that builds the required CGAL variants.

  5. Added the Contact_Guided_RRT solver: RRT with sampling-based contact guidance for SE(2) rod planning, with optional analytic parallel sliding and multi-tree search (based on work submitted by Michael Zhitomirsky).

  6. Solver Viewer: highlighting of selected objects, an extracted logging adapter, reusable visuals module, and serializers that convert CGAL objects to primitives so solutions can be saved and reloaded.

  7. Faster get_solver_class() lookup, and assorted bug fixes in exact_single, metrics and the Scene Designer grid.

  8. Reorganized the documentation: a new landing page, a split installation guide (prerequisites, installation, troubleshooting), step-by-step tutorials for Scene Designer, writing a solver, Solver Viewer and benchmarking, plus an architecture overview and refreshed screenshots.

v1.6.0

13 May 2026

  1. Added the ability to edit polygon obstacles directly in Scene Designer.

  2. Solver Viewer now filters supported solvers automatically based on the loaded scene.

  3. Improved Solver Viewer toolbar flow, undo/redo support, auto DPI scaling, and selection-aware buttons.

  4. Fixed bounding box and scene loading performance issues, plus serialization bugs in Frechet algorithms.

  5. Added initial support for Informed RRT* and Exact Frechet tests.

  6. Updated the About page copyright year to 2026 and improved type hinting throughout the codebase.

v1.5.0

29 Dec 2025

  1. Adding ThreeCurveFrechet solvers (exact and sampled based)

  2. Improved and generalized arrangement display functionality

  3. Initial support of conic traits

v1.4.5

15 Dec 2025

  1. Updating CGALPY bindings commit (to fix garbage collector bug)

v1.4.4

24 Nov 2025

  1. Bug fix in get_graph function of BasicRodPRM

  2. Fixing line width when changing in zoom

v1.4.3

12 Nov 2025

  1. Adding lattice based algorithms (by Adi Paz)

  2. Fix coloring of arrangement in Solver Viewer

  3. Bug fixes to Scene Designer crash

v1.4.2

28 Sep 2025

  1. Fixing compatibility issues for all supported OS platforms and python versions

  2. Bug fixes

v1.4.1

28 Apr 2025

  1. Bug fixes

  2. Multi robot frechet example

v1.4.0

23 Apr 2025

  1. Upgrade of CGAL bindings to CGAL6

  2. Adding Bottleneck tree algorithms

    1. Implementing Frechet matching solver with use of bottleneck tree algorithm

  3. Adding ability to count operations during solver’s run

v1.3.0

6 Nov 2024

  1. Added a Roadmap class to handle all roadmap geometric functionality

  2. Reorganized the modules under ‘src/solvers’ dir and split them to ‘solvers’ which contain only proper solvers and ‘solvers_infra’ that contain all the infrastructure and base class for writing a solver (like the classes Solver, Roadmap, Scene)

  3. Scenario Runner:

    1. Added an option to add custom handlers that will also process the results

    2. Adding CLI interface which allows running experiments from command line, and splitting the experiment into chunks

v1.2.0

7 Oct 2024

  1. Adding solver for algorithms:

    1. Revolving Area (by Netanel Esman)

    2. LBT-RRT (by Shaked Klingbell)

    3. RRT*

    4. Motion planning with targets (by Noam Gutterman)

  2. Adding HGraph meta-class as meta-solver (can combine with any solver)

    1. Currently supporting HGraphs for PRM and RRT

  3. New Solver Viewer features:

    1. Add option to set color for edges of roadmap

    2. Option to choose the robots’ graphs to show

    3. Button to show grid on gui

    4. Presenting the mouse’s coordinates on gui

  4. Changing look and theme of GUI tools

  5. Adding scenarios_runner as a script to run motion planning experiments and compare scenarios

  6. Some API changes in Solver class:

    1. solve() was split into two: exported function that shouldn’t be overridden and an internal function which is the abstract function that solvers should override.

    2. Adding to solve() an optional parameter of scene to enable load+solve.

    3. Adding new function: analyze_solution()

v1.1.1

3 Jun 2024

  1. Improved marking end point of robots, especially when is overlapped with a robot (make sure robots have different colors)

  2. Adding to Solver Viewer a speed slider for adjusting the animation’s speed

  3. Adding solvers: ao-dRRT and dRRT*

  4. Making internal FT class (that inherits from discopygal.bindings.Ker.FT) in

    discopygal consistent so that operations of this class will return an object of FT and not discopygal.bindings.Ker.FT of CGAL.

v1.1.0

21 Apr 2024

  1. Major solver class design changes:

    1. Created to abstract classes: SamplingSolver and TensorSolver

    2. Using inheritance in solver classes

  2. Added Staggered grid solvers

  3. Added new PRM solvers for minimal longest path problem

  4. Merged solvers ExactSingleDisc and ExactSinglePoly into ExactSingle

  5. Solver viewer:

    1. Enable to stop solving process in the middle

    2. Enable to close the program during solving process

    3. Faster cleanup of graph

v1.0.8

16 Mar 2024

  1. Fixing installation issue in MacOS (regarding pyQt)

v1.0.7

13 Feb 2024

  1. Supporting rod robots and Added BasicRodPRM solver

v1.0.6

Internal version

  1. Added ExactSinglePoly solver

v1.0.5

10 Jan 2024

  1. Added bounding box to solver (visualization and configuration)

  2. Fixing leak issues in gui tools

  3. Improving graphs’ appearance and resolution in Solver viewer

v1.0.4

1 Jan 2024

  1. Added padding to result robot paths if not same size

v1.0.3

25 Dec 2023

  1. Bug fixes in tools

  2. Documentation improvements

v1.0.2

Internal version

  1. Update CGAL and CGAL python bindings

  2. Improved installation process - wheel file and virtual environment flow

  3. Added command line arguments to Solver viewer

v1.0.1

Internal version

  1. Basic package code (bindings, gui, solver infrastructure)

  2. Added solvers: PRM, RRT, BiRRT, dRRT, ExactSingleDisc

  3. Added tools: Solver viewer, Scene designer