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.

v0.7

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.

v0.6.1

COMPATIBILITY

• Flexiv robot software v2.10.1 and v2.10.2

ADD

• Add GitHub workflow for Ubuntu 22.04.

CHANGE

• Remove Robot::setSwivelAngle(): the swivel angle-based robot posture control is now replaced by the null space optimization-based posture control.
• Remove contents related to Robot::setSwivelAngle() from examples.
• Make all flexiv::utility methods explicit inline.

FIX

• None

v0.6

COMPATIBILITY

• Flexiv robot software v2.10

ADD

• Add ROS2 support, see flexiv_ros2.
• Add C++ and Python support for macOS.
• Add Python support for Windows.
• Add new parameter forceLimit to Gripper::move() to specify max gripping force.
• Add Robot::isBusy() to check if the robot is currently executing a task.
• Add Robot::isEstopReleased() to check if E-stop is released.
• Add check on the size of input string of Robot::executePrimitive(), cannot exceed 5kb.
• Add Robot::setGlobalVariables() and Robot::getGlobalVariables() to interact with the robot system's global variables.
• Add flexiv::utility namespace with useful helper functions.
• Add Visualization::updateScene() function overloading to update the color of a specified object in the scene.

CHANGE

• Change the C++ interface to a unified modern CMake project that can be installed and linked to as a CMake target package on all supported OS.
• Remove Windows Visual Studio project and solution file, replaced by the unified CMake framework.
• Remove m_ prefix for struct members in StatesData.hpp.
• Remove Robot::isTimeout(), connection quality is auto-handled.
• Remove Robot::getSystemStatus(), also remove SystemStatus data struct, the members are either outdated or handled by dedicated API methods.
• Change input parameters of Robot::streamTcpPose(): remove target velocity and acceleration to guarantee a passive impedance behavior; add optional parameter maxWrench to specify maximum contact wrench during operation.
• Change input parameter maxWrench of Robot::sendTcpPose() to optional.
• Change the output parameter of Robot::getRobotStates() and Robot::getPlanInfo () from pass by pointer to pass by reference.
• Increase the maximum size of input string of Robot::executePrimitive() from 1kb to 5kb.
• Re-organize C++ and Python libraries, add system and processor identifiers.
• Rename spec folder to resources.
• Improve API docs.
• Improve examples.
• Update README with compilation quick start for all supported OS.

FIX

• A command execution bug in the primitive execution mode.

v0.5.1

COMPATIBILITY

• Flexiv robot software v2.9

ADD

• Static RDK libraries for Windows on x64 and x86 processor platforms.
• Example Visual Studio projects that link to the static libraries.

CHANGE

• Re-organize lib/ directory: group libraries by OS, programming language, and processor platform.

FIX

• A bug that caused delay in the execution of a primitive command.

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.

v0.4.0

COMPATIBILITY

• Flexiv robot software v2.8.1

ADD

• Python (3.8) support for selected non-real-time APIs
• Example Python scripts under example_py
• New joint-space non-real-time API flexiv::Robot::sendJointPosition(), activated with new robot mode flexiv::Mode::MODE_JOINT_POSITION_NRT
• New Cartesian-space non-real-time API flexiv::Robot::sendTcpPose(), activated with new robot mode flexiv::Mode::MODE_CARTESIAN_IMPEDANCE_NRT

CHANGE

• Rename API flexiv::Robot::timeout() to isTimeout()
• Rename struct member flexiv::SystemStatus::m_jntLimitTriggered to m_jointLimitTriggered
• Simplify example auto_recovery

FIX

• A bug in example robot_dynamics that might block the state transition

v0.3.1

COMPATIBILITY

• Flexiv robot software v2.8

ADD

• Loop latency benchmark test

CHANGE

• Remove m_reachedReady from flexiv::SystemStatus struct
• Update ground truth in dynamics engine tests
• Remove example/tool directory

FIX

(None)

v0.3.0

COMPATIBILITY

• Flexiv robot software v2.8 pre-release

ADD

• flexiv::Log class to print info, warning, and error messages with timestamp and coloring
• flexiv::Visualization class to use the integrated Meshcat-based visualization
• Derivative of joint torques m_tauDot to flexiv::RobotStates struct
• Latex documentation with math expressions
• Timeliness monitor: when running in a real-time mode, a fault is triggered if the user command fails to arrive the robot within 1ms for several consecutive cycles
• Examples for primitive execution and integrated visualization
• Tests on timeliness monitor, robot states data integrity, RDK endurance, flexiv::Log class
• Overloading of the ostream operator << for flexiv::RobotStates struct to easily print all robot states in JSON format
• GitHub workflow for Ubuntu 18.04

CHANGE

• Update README
• Update Doxyfile
• Rename members in flexiv::RobotStates struct to be symbol-specific
• Remove m_tcpAcc from flexiv::RobotStates struct
• Replace IP address configuration using config.h with program arguments
• Replace message print using std::iostream with flexiv::Log
• Remove flexiv::Model::Frame​ enum, flexiv::Model::getJacobian() and getJacobianDot() now uses link name string as input parameter
• Rename urdf/ directory to spec/
• Replace dae mesh files with stl, update URDF accordingly
• Upgrade the timer used by the robot's state publisher for a more reliable real-time robot states publishing

FIX

• A bug that can cause, at a very low probability, a value spike in received robot states data

v0.2.0

COMPATIBILITY

• Flexiv robot software v2.7

ADD

Initial public release.

CHANGE

FIX