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@pzhu-flexiv pzhu-flexiv released this 09 Jan 20:28
v1.6
7a042e3
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COMPATIBILITY

  • Flexiv software package v3.8

ADD

  • Add new API rdk::Maintenance (#62).
  • Add new API rdk::Safety (#85).
  • Add GripperStates::is_moving.
  • Add Gripper::Enable() and Gripper::Disable().
  • Add Gripper::params() and rdk::GripperParams struct accordingly.
  • Add Device::params().
  • Add bool type to the input variant of Device::Command().
  • Overload utility::Rad2Deg().

CHANGE

  • Remove Python libs and related contents from CMakeLists.txt, flexivrdk can now be installed directly using pip: https://pypi.org/project/flexivrdk/ (#88).
  • Remove Gripper::moving(), replaced by GripperStates::is_moving.
  • Remove GripperStates::max_width, replaced by GripperParams::max_width.
  • Remove deprecated functions that were marked to be removed in this release.
  • Remove RobotStates::tcp_pose_des, this data is now covered by Flexiv DDK.
  • Update gripper control examples with new API usage.
  • Update program arguments documentation in all examples.
  • Move definition of rdk::ToolParams struct from data.hpp to tool.hpp, the scope is not changed.
  • Move definition of rdk::GripperParams struct and rdk::GripperStates struct from data.hpp to gripper.hpp.
  • Update README.

FIX

  • Fix Gripper::Init() bug (#90).
  • Fix Robot::enabling_button_pressed() bug (#89).
  • Fix Cartesian motion force control examples.
  • Use CMAKE_PREFIX_PATH to specify where to find flexiv_rdk from user programs (#91).
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