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@pzhu-flexiv pzhu-flexiv released this 01 Apr 18:41
· 3 commits to main since this release
v1.3
c675f5f
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Learn about vigilant mode.

COMPATIBILITY

  • Internal pre-release

ADD

  • Add new API flexiv::Device for general device control over RDK.
  • Add Robot::mu_log() to access the multilingual log messages of the connected robot; remove Robot::getErrorMessage() accordingly.
  • Add Robot::SetVelocityScale() as a standalone function to change velocity scale during plan/primitive execution; remove velocity_scale input parameter from Robot::ExecutePlan() and Robot::ExecutePrimitive() accordingly.
  • Add input parameter acceleration to Robot::StreamCartesianMotionForce() to feed-forward target TCP acceleration.
  • Add input parameters max_linear_acc and max_angular_acc to Robot::SendCartesianMotionForce().
  • Provide explicit default values to input parameters of Robot::SendCartesianMotionForce().
  • Add bool return to Robot::ClearFault() to indicate whether the fault is cleared successfully; update usage in examples accordingly.
  • Add Gripper::moving() to replace GripperStates::isMoving.
  • Add Gripper::Init() to manually trigger gripper initialization; update gripper control examples accordingly.
  • Add string names array kModeNames for robot control modes.
  • Add more supported formats for robot SN input when constructing flexiv::Robot.

CHANGE

  • Update format requirement of input parameter with ARRAY_COORD type for Robot::ExecutePrimitive().
  • Adopt the Google C++ Style Guide globally.
  • Increase nominal Cartesian stiffness of Rizon 4/4s from 6000/400 to 10000/1000, Rizon 10/10s from 12000/1200 to 20000/2000.
  • Replace Robot::getRobotStates() with Robot::states() direct accessor.
  • Replace Robot::getMode() with Robot::mode() direct accessor.
  • Replace Robot::getPlanNameList() with Robot::plan_list() direct accessor.
  • Replace Robot::getPlanInfo() with Robot::plan_info() direct accessor.
  • Replace Robot::getGlobalVariables() with Robot::global_variables() direct accessor.
  • Replace Robot::getPrimitiveStates() with Robot::primitive_states() direct accessor.
  • Rename Gripper::getGripperStates() to Gripper::states().
  • Rename Tool::switchTo() to Tool::Switch().
  • Rename Tool::getToolList() to Tool::list().
  • Rename Tool::getCurrentToolName() to Tool::name().
  • Rename Tool::getToolParams() to Tool::params(); add function overload for Tool::getCurrentToolParams().
  • Rename functions in flexiv::Model to math symbol representations.
  • Revert Windows action runner version to 2022 as the MSVC compatibility issue is fixed. Remove temporary warning from README accordingly.
  • Remove RobotInfo::qHome.
  • Improve API docs.
  • Update examples and tests with new function naming.
  • Bump supported Python version from 3.8/3.10 to 3.10/3.12.
  • Update .gitignore.
  • Update Windows compilation toolkit requirement in README.

FIX

  • Fix singularity bug under NRT_CARTESIAN_MOTION_FORCE control mode (#42).
  • Fix data corruption when requesting primitive states (#47).
  • Fix discontinuous null-space posture transition (#45).
  • Fix robot tool update examples.
  • Fix control mode mismatch bug in real-time control modes.
  • Upgrade Fast-DDS version to v2.6.7, this fixed the compatibility issue with MSVC v143 (Visual Studio 2022).
  • Remove incorrect comment from basics3_primitive_execution.py.
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