From d0169f0e8e81b0573e64bd97f6d1d774a8a08b4d Mon Sep 17 00:00:00 2001 From: Konstantinos Vasios Date: Fri, 8 Mar 2024 23:00:53 +0200 Subject: [PATCH] removing trademark for Franka MATLAB Toolbox --- source/franka_matlab/CHANGELOG.md | 8 ++++---- source/franka_matlab/compatibility.rst | 2 +- source/franka_matlab/conf.py | 2 +- source/franka_matlab/franka_matlab_changelog.rst | 2 +- source/franka_matlab/getting_started.rst | 4 ++-- source/franka_matlab/index.rst | 4 ++-- source/franka_matlab/installation.rst | 14 +++++++------- source/franka_matlab/troubleshooting.rst | 2 +- 8 files changed, 19 insertions(+), 19 deletions(-) diff --git a/source/franka_matlab/CHANGELOG.md b/source/franka_matlab/CHANGELOG.md index 6c58d9d..32a097b 100644 --- a/source/franka_matlab/CHANGELOG.md +++ b/source/franka_matlab/CHANGELOG.md @@ -1,14 +1,14 @@ # Changelog: -## 1.0.0 (22-01-2024) +## 1.0.0 (11-03-2024) - **BREAKING** Robot Settings standardization with Matlab OOP. - **BREAKING** Adding the option to set the rate limiter and the cutoff frequency in the apply control simulink block. - **BREAKING** Removing the get initial robot state block from the simulink library. - **BREAKING** Enhanced modular building structure for the Franka Simulink Library. Easy incorporation to larger projects and Harware Support Packages. - - **BREAKING** New Matlab object oriented API expressed based on the new `FrankaRobot()` class. Incorporation of existing Franka MATLAB® functions as methods of the new API Class. + - **BREAKING** New Matlab object oriented API expressed based on the new `FrankaRobot()` class. Incorporation of existing Franka MATLAB functions as methods of the new API Class. - **BREAKING** Removing all the "Panda" naming conventions. Replaced with "Franka Robot". - - **BREAKING** Franka MATLAB® is now distributed as a Toolbox Matlab Add-On. No installation script needed. + - **BREAKING** Franka MATLAB is now distributed as a Toolbox Matlab Add-On. No installation script needed. - Fixing collision threshold setting bug. - Oldest supported Matlab version is now the R2021a. - Adding the option to set the Nominal End-Effector to End-Effector frame NE_T_EE in the Simulink Block "Apply Control". @@ -27,7 +27,7 @@ - Support for XCP communication protocol (vehicle network communication). Data inspector is now enabled! - Support for "Run on custom Hardware" Simulink App for controlling the "Build-deploy-execute-connect" workflow. - Project back-end overal simplification with modified rt_main.cpp for handling the external mode as a seperate thread. - - **BREAKING** all the Franka MATLAB® functions are starting with the "`franka_`" prefix. + - **BREAKING** all the Franka MATLAB functions are starting with the "`franka_`" prefix. - Expansion of Matlab library with the functions `franka_communication_test()`, `franka_joint_poses()`, `franka_robot_state()` and `franka_joint_point_to_point_motion()`. - Addition of the Simulink demo, "joint_impedance_control.slx". - Fixing the bug when utilizing the Control Modes "Torque Control - X`. diff --git a/source/franka_matlab/compatibility.rst b/source/franka_matlab/compatibility.rst index 3cdfb55..3c3c7a7 100644 --- a/source/franka_matlab/compatibility.rst +++ b/source/franka_matlab/compatibility.rst @@ -7,7 +7,7 @@ Compatibility with Matlab & libfranka ------------------------------------- +------------------------+-------------------+----------------------------+ -| Franka MATLAB® version | libfranka version | Matlab Version | +| Franka MATLAB version | libfranka version | Matlab Version | +========================+===================+============================+ | 1.0.0 | 0.9.x & 0.13.x | :math:`\geq` R2021a | +------------------------+-------------------+----------------------------+ diff --git a/source/franka_matlab/conf.py b/source/franka_matlab/conf.py index 29b29de..c13119b 100644 --- a/source/franka_matlab/conf.py +++ b/source/franka_matlab/conf.py @@ -52,7 +52,7 @@ master_doc = 'index' # General information about the project. -project = 'Franka MATLAB® Toolbox' +project = 'Franka MATLAB Toolbox' copyright = '2024, Franka Robotics GmbH' author = 'Franka Robotics GmbH' diff --git a/source/franka_matlab/franka_matlab_changelog.rst b/source/franka_matlab/franka_matlab_changelog.rst index 9e26c51..090cf53 100644 --- a/source/franka_matlab/franka_matlab_changelog.rst +++ b/source/franka_matlab/franka_matlab_changelog.rst @@ -1,4 +1,4 @@ -Franka MATLAB® Toolbox changelog +Franka MATLAB Toolbox changelog ================================ .. include:: ../franka_matlab/CHANGELOG.md diff --git a/source/franka_matlab/getting_started.rst b/source/franka_matlab/getting_started.rst index e5ff1fd..732c1f2 100644 --- a/source/franka_matlab/getting_started.rst +++ b/source/franka_matlab/getting_started.rst @@ -4,7 +4,7 @@ Getting started Overview -------- -A set of Simulink & Matlab examples is included within the Franka MATLAB® Toolbox. Feel free to experiment, adjust +A set of Simulink & Matlab examples is included within the Franka MATLAB Toolbox. Feel free to experiment, adjust them and expand them to fit your project needs! You can navigate through the examples by typing: @@ -17,7 +17,7 @@ You can navigate through the examples by typing: :align: center :figclass: align-center - Franka MATLAB® Toolbox Examples Navigator. + Franka MATLAB Toolbox Examples Navigator. Initialization -------------- diff --git a/source/franka_matlab/index.rst b/source/franka_matlab/index.rst index 8019817..e87f2ed 100644 --- a/source/franka_matlab/index.rst +++ b/source/franka_matlab/index.rst @@ -1,9 +1,9 @@ -Franka MATLAB® Toolbox +Franka MATLAB Toolbox ====================== .. todolist:: -Franka MATLAB® Toolbox contains a set of libraries and tools for exposing the Franka Robot to the Mathworks ecosystem with the: +Franka MATLAB Toolbox contains a set of libraries and tools for exposing the Franka Robot to the Mathworks ecosystem with the: * ``Simulink Franka Library``, a set of simulink blocks interfacing the Franka Robot through automatic C++ code gen with Simulink Coder, for rapid-prototyping of robot control algorithms. diff --git a/source/franka_matlab/installation.rst b/source/franka_matlab/installation.rst index 9e81031..814fcd1 100644 --- a/source/franka_matlab/installation.rst +++ b/source/franka_matlab/installation.rst @@ -2,7 +2,7 @@ Installation ============ .. hint:: - The Franka MATLAB® Toolbox is based on the `Franka Control Interface (FCI) `_ and + The Franka MATLAB Toolbox is based on the `Franka Control Interface (FCI) `_ and the `libfranka C++ interface `_. All the same `system and network requirements `_ do therefore apply. @@ -23,7 +23,7 @@ Make sure that the following dependencies are installed: sudo apt install build-essential cmake git libpoco-dev libeigen3-dev -You can either let the Franka MATLAB® Toolbox auto-install the libfranka locally or you can proceed with +You can either let the Franka MATLAB Toolbox auto-install the libfranka locally or you can proceed with a system-wide libfranka.*.deb installation. We recommend the former. .. important:: @@ -61,14 +61,14 @@ You can then install the 64bit versions of eigen3 and poco packages: vcpkg install eigen3:x64-windows vcpkg install poco[netssl]:x64-windows -Franka MATLAB® Toolbox Add-On Installation & License Management +Franka MATLAB Toolbox Add-On Installation & License Management --------------------------------------------------------------- -For installing the Franka MATLAB® Toolbox either drag-and-drop the franka_matlab.mltbx +For installing the Franka MATLAB Toolbox either drag-and-drop the franka_matlab.mltbx to the current Matlab Command Window or you can use the Matlab Add-On manager. After this process is complete simply follow the instructions in the Getting Started guided -which should have been opened after the Franka MATLAB® Toolbox Add-on installation. +which should have been opened after the Franka MATLAB Toolbox Add-on installation. In short you will need to generate a unique identifier for you PC by executing: @@ -77,7 +77,7 @@ In short you will need to generate a unique identifier for you PC by executing: franka_matlab_toolbox_uid_gen(); Please then send this unique identifier to Franka Robotics for receiving a License Number for -the Franka MATLAB® Toolbox. +the Franka MATLAB Toolbox. You can then proceed with the final installation step, by executing: @@ -85,7 +85,7 @@ You can then proceed with the final installation step, by executing: franka_matlab_toolbox_install('franka matlab toolbox license number as a string',['fr3' or 'fer']); -That's it the Franka MATLAB® Toolbox should be ready. +That's it the Franka MATLAB Toolbox should be ready. Get a glimpse of what the capabilities of the Toolbox are by navigating through the examples provided with the Toolbox: diff --git a/source/franka_matlab/troubleshooting.rst b/source/franka_matlab/troubleshooting.rst index 9397c38..780ebf6 100644 --- a/source/franka_matlab/troubleshooting.rst +++ b/source/franka_matlab/troubleshooting.rst @@ -6,7 +6,7 @@ Troubleshooting `franka_matlab category `_ for relevant posts or for creating new ones! .. hint:: - Before proceeding with the Franka MATLAB® Toolbox, it would be a good practice to execute a couple of the libfranka examples, under the build/examples folder, in order to ensure that the libfranka + Before proceeding with the Franka MATLAB Toolbox, it would be a good practice to execute a couple of the libfranka examples, under the build/examples folder, in order to ensure that the libfranka installation has been succesful and that the system can operate under the Real-Time control constraints. control_modes.h: No such file or directory error.