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@pzhu-flexiv pzhu-flexiv released this 11 Jan 22:53
· 14 commits to main since this release
v0.7
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Learn about vigilant mode.

COMPATIBILITY

  • Flexiv robot software v2.10.3 and v2.10.4

ADD

  • Add GitHub action for Windows.
  • Add support for Python 3.10.
  • Add support for the real-time scheduler flexiv::Scheduler on macOS.
  • Add support for setting CPU affinity in flexiv::Scheduler.
  • Add Scheduler::maxPriority() to get the maximum available priority for the user task under the current system.
  • Add contact control C++ and Python example.
  • Add new exception types: ClientException and LogicException.
  • Add flexiv::GripperStates struct and corresponding output stream operator << to StatesData.hpp: the general gripper feedback states, update examples accordingly.
  • Add Gripper::getGripperStates() to request the latest gripper states from robot server, update examples accordingly.
  • Add Robot::setNullSpacePosture() to do null-space posture control during Cartesian control modes, update examples accordingly.
  • Add detailed description to items in flexiv::RobotStates struct.
  • Add RobotStates::ftSensorRaw: the raw reading from the end-effector force-torque (FT) sensor, if available.
  • Add output stream operator << for flexiv::PlanInfo struct.
  • Add URDF and mesh files for Rizon 10 robot arm.
  • Add DAE format visual mesh files.

CHANGE

  • Remove flexiv::Visualization and related contents: users now need to use their own visualization methods.
  • Remove RobotStates::endLinkPose.
  • Improve API docs.
  • Improve the performance, compatibility, and stability of flexiv::Scheduler.
  • Rename Scheduler::getTaskCount() to Scheduler::numTasks().
  • Rename RobotStates::extForceInTcpFrame to RobotStates::extWrenchInTcp.
  • Rename RobotStates::extForceInBaseFrame to RobotStates::extWrenchInBase.
  • Update all examples to pass by (const) reference.
  • Update primitive execution examples to demonstrate how to express target coordinate in TCP frame.
  • Update the constructor of flexiv::Gripper to pass by const reference.
  • Update the constructor of flexiv::Model to pass by const reference.
  • Update Robot::isBusy() to also cover primitives that can auto-terminate upon completion (some primitives won't auto-terminate upon completion, for example, the [Move] series).
  • Update CMakeLists to auto-detect OS and processor type.
  • Update README.

FIX

  • Fix a bug in series operation example where the specified plan no longer exists.
  • Fix a bug where Robot::setGlobalVariables() can be used in other modes other than the plan execution mode.
  • Fix a bug where Robot::setGlobalVariables() returns too soon and the processing may have not fully completed.
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