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@pzhu-flexiv pzhu-flexiv released this 13 Apr 15:53
· 22 commits to main since this release
10a57dc

COMPATIBILITY

  • Flexiv robot software v2.9

ADD

  • C++ and Python library for arm64 processors.
  • flexiv::Scheduler class for users to add and run periodic tasks with user-defined interval and priority. Update all examples with this scheduler.
  • flexiv::Exception class that contains customized exceptions thrown by RDK's APIs. Update all examples with exception handling.
  • flexiv::Gripper class to control grippers that use the communication protocol template provided by Flexiv.
  • flexiv::Robot::setCartesianStiffness() to online change the stiffness of the Cartesian impedance controller during Cartesian impedance modes.
  • flexiv::Robot::setSwivelAngle() to online change the robot arm's elbow swivel angle during Cartesian impedance modes.
  • flexiv::Visualization::updateScene() to update position of objects added to the visualizer scene.
  • Default initialization for all members in StatesData.hpp.
  • New example: clear minor fault on robot server.
  • New example: gripper control.
  • Fault check of robot server to all examples.

CHANGE

  • Move all header files to flexiv sub-directory.
  • Replace error return of all methods with customized exception defined in flexiv::Exception.
  • Merge flexiv::Robot::Init() with its class constructor.
  • Merge flexiv::Visualization::Init() with its class constructor.
  • Change flexiv::Robot::readDigitalInput() to output result through function return instead of an output pointer parameter.
  • Rename RobotStates.hpp to StatesData.hpp.
  • Rename flexiv::Visualization::update() to flexiv::Visualization::updateRobot().
  • Remove flexiv::Robot::loadModel(): replaced by the constructor of flexiv::Model.
  • Remove flexiv::SystemStatus::m_motionCmdSuccessRate: no longer useful.
  • Remove flexiv::SystemStatus::m_errorMsg: accurate error message can be found on the UI tablet.
  • Remove flexiv::SystemStatus::m_ptStates: replaced with a dedicated method flexiv::Robot::getPrimitiveStates().
  • Remove flexiv::Model::setTool(), the tool dynamics update is now automated.
  • Remove unnecessary smart pointers from all examples.
  • Replace unnecessary heap allocation with stack allocation in all examples.
  • Reduce continuous network bandwidth consumption by 75%, increasing connection robustness under bad network connections.
  • Increase round-trip communication latency tolerance to 1000 ms (only for non-real-time APIs).
  • Upgrade Eigen library in thirdparty/ to 3.3.7.

FIX

  • Missing color in the provided robot URDF.
  • Compatibility issue of flexiv::Log with some versions of the fmt library.