v0.8

COMPATIBILITY

• Flexiv robot software v2.10.5

ADD

• Add new API for Cartesian unified motion-force control in base or TCP frame. For real-time access, use modes RT_CARTESIAN_MOTION_FORCE_BASE and RT_CARTESIAN_MOTION_FORCE_TCP. For non-real-time access, use modes NRT_CARTESIAN_MOTION_FORCE_BASE and NRT_CARTESIAN_MOTION_FORCE_TCP.
• Add real-time and non-real-time examples for the new motion-force control mode.
• Add new method Robot::info() to access general information of the robot.
• Add new method Robot::pausePlan() to pause or resume the execution of the current plan.

CHANGE

• Replace Robot::streamTcpPose() with newly added motion-force control method Robot::streamCartesianMotionForce().
• Replace Robot::sendTcpPose() with newly added motion-force control method Robot::sendCartesianMotionForce().
• Replace Robot::executePlanByIndex() and Robot::executePlanByName() with overloaded function Robot::executePlan().
• Remove contact_control examples, replace with direct motion force control examples.
• Remove series_operation examples, no longer relevant.
• Replace RT_cartesian_impedance_control example with RT_cartesian_pure_motion_control example, using the newly added motion-force control API.
• Add blocking check on whether the desired mode is successfully set to Robot::setMode(). Remove manual check using Robot::getMode() from examples.
• Rename StatesData.hpp to Data.hpp.
• Update enums naming of flexiv::Mode.
• Update Robot::setCartesianStiffness() to reset to default values based on detected robot model.
• Update Robot::setNullSpacePosture() to reset to default values based on detected robot model.
• Update README.
• Re-organize examples into basic and intermediate tutorials.

FIX

• Improve server-client compatibility check.
• Minor fixes to examples.