0.2.2 (06/22/2010)

• Added constraints to the kinematics solver using the Constraints message in motion_planning_msgs
• interpolated_ik_motion_planner moved into motion_planners

0.2.1

• Allow link padding to be custom specified
• clear allowed contact regions at end of callback

0.2.0

• collision operations are cached internally and used directly in callbacks
• added KDL like API call
• uses GetConstraintAwareIK instead of GetCollisionFreeIK for the service call now