Releases
v0.5.0
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.
You can’t perform that action at this time.