Release/v0.10 (#52)

Release note:
https://github.com/flexivrobotics/flexiv_rdk/releases/tag/v0.10

Author: pzhu-flexiv

.gitignore

@@ -2,6 +2,6 @@
 .vs
 .DS_Store
 config.h
-build/
+build*/
 html/
 __pycache__

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 0.9.0)
+project(flexiv_rdk VERSION 0.10.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv RDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = "0.9"
+PROJECT_NUMBER         = "0.10"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

example_py/basics3_primitive_execution.py

@@ -148,7 +148,6 @@ def main():
 
         # Example to convert target quaternion [w,x,y,z] to Euler ZYX using scipy package's 'xyz'
         # extrinsic rotation
-        # NOTE: scipy uses [x,y,z,w] order to represent quaternion
         target_quat = [0.9185587, 0.1767767, 0.3061862, 0.1767767]
         # ZYX = [30, 30, 30] degrees
         eulerZYX_deg = quat2eulerZYX(target_quat, degree=True)

include/flexiv/Robot.hpp

@@ -267,7 +267,8 @@ class Robot
      * @brief [Blocking] Get feedback states of the currently executing
      * primitive.
      * @return Primitive states in the format of a string list.
-     * @throw CommException if there's no response from the robot.
+     * @throw CommException if there's no response from the robot or the result
+     * is invalid.
      * @throw ExecutionException if error occurred during execution.
      * @warning This function blocks until the reply from the robot is received.
      */
@@ -314,7 +315,8 @@ class Robot
      * @note No need to call this function if the mounted tool on the robot has
      * only one TCP, it'll be used by default.
      * @note New TCP index will take effect upon control mode switch, or upon
-     * sending a new primitive command.
+     * sending a new primitive command. However, this function has no effect in
+     * plan execution mode as TCP index should be defined in the plan itself.
      * @warning This function blocks until the request is successfully delivered
      * to the robot.
      */
@@ -465,11 +467,11 @@ class Robot
      * \times 1} \f$ force and \f$ \mathbb{R}^{3 \times 1} \f$ moment: \f$ [f_x,
      * f_y, f_z, m_x, m_y, m_z]^T \f$. Unit: \f$ [N]~[Nm] \f$.
      * @param[in] maxLinearVel  Maximum Cartesian linear velocity when moving to
-     * the target pose. Default maximum linear velocity is used when set to 0.
-     * Unit: \f$ [m/s] \f$.
+     * the target pose. A safe value is provided as default. Unit: \f$ [m/s]
+     * \f$.
      * @param[in] maxAngularVel  Maximum Cartesian angular velocity when moving
-     * to the target pose. Default maximum angular velocity is used when set to
-     * 0. Unit: \f$ [rad/s] \f$.
+     * to the target pose. A safe value is provided as default. Unit: \f$
+     * [rad/s] \f$.
      * @throw InputException if input is invalid.
      * @throw LogicException if robot is not in the correct control mode.
      * @throw ExecutionException if error occurred during execution.
@@ -492,7 +494,7 @@ class Robot
      */
     void sendCartesianMotionForce(const std::vector<double>& pose,
         const std::vector<double>& wrench = std::vector<double>(6),
-        double maxLinearVel = 0.0, double maxAngularVel = 0.0);
+        double maxLinearVel = 0.5, double maxAngularVel = 1.0);
 
     /**
      * @brief [Non-blocking] Set motion stiffness for the Cartesian motion-force
@@ -558,8 +560,9 @@ class Robot
      * @throw LogicException if robot is not in the correct control mode.
      * @throw ExecutionException if error occurred during execution.
      * @note Applicable control modes: RT/NRT_CARTESIAN_MOTION_FORCE.
-     * @warning The robot will automatically reset to its nominal preferred
-     * joint positions upon re-entering the applicable control modes.
+     * @warning Upon entering the applicable control modes, the robot will
+     * automatically set its current joint positions as the preferred joint
+     * positions.
      * @par Null-space posture control
      * Similar to human arm, a robotic arm with redundant degree(s) of
      * freedom (DOF > 6) can change its overall posture without affecting the
@@ -572,8 +575,8 @@ class Robot
     void setNullSpacePosture(const std::vector<double>& preferredPositions);
 
     /**
-     * @brief [Non-blocking] Reset preferred joint positions to the robot's home
-     * posture.
+     * @brief [Non-blocking] Reset preferred joint positions to the ones
+     * automatically recorded when entering the applicable control modes.
      * @note Applicable control modes: RT/NRT_CARTESIAN_MOTION_FORCE.
      */
     void resetNullSpacePosture(void);

include/flexiv/Utility.hpp

@@ -164,6 +164,10 @@ inline std::string parsePtStates(
     const std::vector<std::string>& ptStates, const std::string& parseTarget)
 {
     for (const auto& state : ptStates) {
+        // Skip if empty
+        if (state.empty()) {
+            continue;
+        }
         std::stringstream ss(state);
         std::string buffer;
         std::vector<std::string> parsedState;