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@pzhu-flexiv pzhu-flexiv released this 25 Oct 16:46
v1.8
692f00c
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Learn about vigilant mode.

COMPATIBILITY

  • Flexiv software package v3.10

ADD

  • Support creating lite instances of rdk::Robot via a constructor parameter. Add Robot::lite() to check if this instance is a lite instance.
  • Add new member has_FT_sensor to RobotInfo struct.
  • Add new members timestamp, tau_interact, and temperature (#128) to RobotStates struct.
  • Add Model::T() to compute the forward kinematics of a specified robot link (#121).
  • Add new methods SetTimelinessFailureLimit(), StopPlan(), SetMaxContactTorque(), SetJointInertiaScale(), and SyncWithPositioner() to rdk::Robot.
  • Add new methods projects_list(), UploadProject() (#124), and DownloadProject() to rdk::FileIO.
  • Add input parameter velocity to Robot::SendCartesianMotionForce() (#135).
  • Add new test test_repeated_instantiation.
  • Add new build type MinSizeRel.
  • Add building on Ubuntu 24.04 to github workflow.

CHANGE

  • Upgrade the online trajectory generator used by non-real-time joint control modes, resulting in the removal of input parameter accelerations of Robot::SendJointPosition().
  • Upgrade linked Eigen version to v3.4.0, update the QNX patch accordingly.
  • Upgrade linked Fast-DDS version to v2.6.10.
  • Change exception type of Model::J() and Model::dJ() from std::out_of_range to std::invalid_argument.
  • Remove deprecated Robot::SetDigitalOutputs() overloading.
  • Check if the input parameters max_vel and max_acc of Robot::SendJointPosition() are positive numbers.
  • Increase file transfer max size to 1 MB.
  • Improve API docs.
  • Add Important Notice section to README.
  • Update thirdparty build scripts to clone into a branch directly.
  • Remove git-tracked static libraries. The library is now downloaded when configuring CMake.
  • Add reference hash values to check the downloaded library.
  • Add CMake option to support ROS2 Jazzy.

FIX

  • Fix bug in rdk::Safety: exclude external axes from safety settings.
  • Fix malloc fault when destructing rdk::Robot (#111).
  • Fix Robot::SetNullSpacePosture() no response (#125).
  • Fix server crash upon sending a primitive command that uses any work coordinate (#132).
Assets 9
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