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v0.4.0

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@pzhu-flexiv pzhu-flexiv released this 17 Jan 15:08
· 30 commits to main since this release
v0.4.0
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Learn about vigilant mode.

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
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