Code

Pre-release/v1.2#41

Code

Merged

pzhu-flexiv merged 65 commits intov1.xflexivrobotics/flexiv_rdk:v1.xfrom release/v1.2flexivrobotics/flexiv_rdk:release/v1.2Copy head branch name to clipboardDec 1, 2023

+1,953-1,479

Commits

Commits on Oct 3, 2023

• Remove Ubuntu 18 support from README

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  18ebf16

Commits on Oct 4, 2023

• Add ToolParams struct to Data.hpp

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  3dbf336

• Add new API flexiv::Tool to online update robot tools

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  5ad23b8

• Add new API flexiv::FileIO to do file transfer with the robot

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  9326180

• Overload Gripper::getGripperStates

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  18d280b

• Merge Cartesian motion force control modes, keep only NRT_CARTESIAN_MOTION_FORCE and RT_CARTESIAN_MOTION_FORCE

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  fe32e25

• Add Model::reload function

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  8741321

• Fix a root link bug in flexiv::Model

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  f9af57e

• Add breakpoint control to flexiv::Robot when running plans

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  493e3a3

• Reorder functions in flexiv::Robot

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  21b7ae6

• Add Robot::isEnablingButtonPressed

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  129bdbf

• Overload Robot::getRobotStates

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  7bc6fda

• Add new input parameter continueExec to executePlan to allow continue executing the plan when the RDK program is closed or the connection is lost

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  549dabc

• Change Robot::getPlanInfo to return data struct directly

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  bd3e7b4

• Add more function doc to Robot::sendJointPosition

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  30957e5

• Redesign the behavior of streamCartesianMotionForce and sendCartesianMotionForce

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  4c74879

• Add force control configuration functions: setForceControlAxis, setForceControlFrame, setPassiveForceControl

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  5034952

• Update linux x86_64 libs

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  ba7bcb6

• Remove check on secondsWaited of isOperational from examples

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  3425672

• Format Python examples

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  77fdb6d

• Update motion force control examples

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  5892cec

• Update macOS libs

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  b76ef2b

• Update "base" to "world"

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  2eb7703

• Rename extWrenchInBase to extWrenchInWorld, update doc

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  56417bc

Commits on Oct 5, 2023

• Sync the c++ static libs naming pattern to be the same as python libs

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  b153461

• Bump project version number to 1.2.0

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  012e28d

• Update linux x86_64 libs

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  097054e

• Fix compilation

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  ff5a430

• Update macOS libs

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  4e4b6d5

• Update Windows libs

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  3e60f75

Commits on Oct 19, 2023

• Change return of Tool::getCurrentToolName() from "NONE" to "Flange"

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  e18f1e9

• flexiv::Scheduler add minPriority() function; Scheduler::addTask() add check for min priority

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  08017bf

• Remove input parameter of Scheduler::start() for blocking, the user should implement their own calling thread blocking

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  e5f2a35

• Improve Robot function doc, add doc on valid range of input parameters

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  f818e8c

• Robot::setForceControlAxis() add new input parameter to limit moving velocity along force-controlled axes, linear only

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  17b9858

• Update ubuntu x86_64 libs

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  e60838c

• Update examples according to Scheduler update

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  073868a

• Update test_endurance

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  dba4b34

• Update macOS libs

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  22cc222

Commits on Oct 21, 2023

• Enable robot dynamics for windows

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  0b5dea2

• Update windows x64 libs

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  bf60047

• Update dynamics engine test

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  9e507c9

Commits on Oct 23, 2023

• Update README on MSVC compatible version

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  1a2aacd

• Remove HINTS ${CMAKE_INSTALL_PREFIX} from cmakelists

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  cb2a11f

Commits on Oct 25, 2023

• Fix Python examples

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  6c361a0

• Fix missing velocity scale in plan execution examples

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  d82c580

Commits on Oct 26, 2023

• Update Ubuntu x86_64 libs

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  b9d6d28

Commits on Oct 27, 2023

• Remove RobotStates::camPose, no longer available

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  193dc31

• Update Ubuntu x86_64 libs

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  ce63465

Commits on Nov 10, 2023

• Update Ubuntu x86_64 libs with scheduler bugfix

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  18713c8

Commits on Nov 22, 2023

• Update Ubuntu x86_64 libs

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  1375068

• Update macOS arm64 libs

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  d18e8b5

• Update Ubuntu aarch64 libs

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  095e6e1

Commits on Nov 23, 2023

• Update Windows amd64 libs

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  e2d46fb

Commits on Nov 28, 2023

• Fix typo in README

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  d8637b9

• Remove camPose from example

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  501d521

Commits on Nov 30, 2023

• Add update robot tool cpp and python examples

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  5a22306

• Update Copyright year from 2021 to 2023

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  eddd781

• Merge test_dynamics_with_tool into test_dynamics_engine

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  997615a

• Decrease cmake_minimum_required from 3.18.6 to 3.16.3

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  cc1a77f

• Use Windows 2019 runner instead of 2022 to avoid a MSVC compatibility issue with one of the dependencies

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  044c529

• Add macOS runner

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  0c3df73

• Use $(sysctl -n hw.ncpu) to replace $(nproc) for macOS

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  d680c92

Commits on Dec 1, 2023

• Use MSVC v142 to compile windows libs

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  a3725ce

• Use self-hosted runner for macOS arm64 tasks

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  61548b5