Flexivrdk

COMPATIBILITY

* Flexiv robot software **v2.10.1** and **v2.10.2**

ADD

* Add GitHub workflow for Ubuntu 22.04.

CHANGE

* Remove ``Robot::setSwivelAngle()``: the swivel angle-based robot posture control is now replaced by the null space optimization-based posture control.
* Remove contents related to ``Robot::setSwivelAngle()`` from examples.
* Make all ``flexiv::utility`` methods explicit inline.

FIX

* None

COMPATIBILITY

* Flexiv robot software **v2.10**

ADD

* Add ROS2 support, see [flexiv_ros2](https://github.com/flexivrobotics/flexiv_ros2).
* Add C++ and Python support for macOS.
* Add Python support for Windows.
* Add new parameter ``forceLimit`` to ``Gripper::move()`` to specify max gripping force.
* Add ``Robot::isBusy()`` to check if the robot is currently executing a task.
* Add ``Robot::isEstopReleased()`` to check if E-stop is released.
* Add check on the size of input string of ``Robot::executePrimitive()``, cannot exceed 5kb.
* Add ``Robot::setGlobalVariables()`` and ``Robot::getGlobalVariables()`` to interact with the robot system's global variables.
* Add ``flexiv::utility`` namespace with useful helper functions.
* Add ``Visualization::updateScene()`` function overloading to update the color of a specified object in the scene.

CHANGE

* Change the C++ interface to a unified modern CMake project that can be installed and linked to as a CMake target package on all supported OS.
* Remove Windows Visual Studio project and solution file, replaced by the unified CMake framework.
* Remove ``m_`` prefix for struct members in ``StatesData.hpp``.
* Remove ``Robot::isTimeout()``, connection quality is auto-handled.
* Remove ``Robot::getSystemStatus()``, also remove ``SystemStatus`` data struct, the members are either outdated or handled by dedicated API methods.
* Change input parameters of ``Robot::streamTcpPose()``: remove target velocity and acceleration to guarantee a passive impedance behavior; add optional parameter ``maxWrench`` to specify maximum contact wrench during operation.
* Change input parameter ``maxWrench`` of ``Robot::sendTcpPose()`` to optional.
* Change the output parameter of ``Robot::getRobotStates()`` and ``Robot::getPlanInfo ()`` from pass by pointer to pass by reference.
* Increase the maximum size of input string of ``Robot::executePrimitive()`` from 1kb to 5kb.
* Re-organize C++ and Python libraries, add system and processor identifiers.
* Rename ``spec`` folder to ``resources``.
* Improve API docs.
* Improve examples.
* Update README with compilation quick start for all supported OS.

FIX

* A command execution bug in the primitive execution mode.

COMPATIBILITY

* Flexiv robot software **v2.9**

ADD

* Static RDK libraries for Windows on x64 and x86 processor platforms.
* Example Visual Studio projects that link to the static libraries.


CHANGE

* Re-organize ``lib/`` directory: group libraries by OS, programming language, and processor platform.

FIX

* A bug that caused delay in the execution of a primitive command.

COMPATIBILITY

* Flexiv robot software **v2.9**

ADD

* C++ and Python library for arm64 processors.
* ``flexiv::Scheduler`` class for users to add and run periodic tasks with user-defined interval and priority. Update all examples with this scheduler.
* ``flexiv::Exception`` class that contains customized exceptions thrown by RDK's APIs. Update all examples with exception handling.
* ``flexiv::Gripper`` class to control grippers that use the communication protocol template provided by Flexiv.
* ``flexiv::Robot::setCartesianStiffness()`` to online change the stiffness of the Cartesian impedance controller during Cartesian impedance modes.
* ``flexiv::Robot::setSwivelAngle()`` to online change the robot arm's elbow swivel angle during Cartesian impedance modes.
* ``flexiv::Visualization::updateScene()`` to update position of objects added to the visualizer scene.
* Default initialization for all members in ``StatesData.hpp``.
* New example: clear minor fault on robot server.
* New example: gripper control.
* Fault check of robot server to all examples.


CHANGE

* Move all header files to ``flexiv`` sub-directory.
* Replace error return of all methods with customized exception defined in ``flexiv::Exception``.
* Merge ``flexiv::Robot::Init()`` with its class constructor.
* Merge ``flexiv::Visualization::Init()`` with its class constructor.
* Change ``flexiv::Robot::readDigitalInput()`` to output result through function return instead of an output pointer parameter.
* Rename ``RobotStates.hpp`` to ``StatesData.hpp``.
* Rename ``flexiv::Visualization::update()`` to ``flexiv::Visualization::updateRobot()``.
* Remove ``flexiv::Robot::loadModel()``: replaced by the constructor of ``flexiv::Model``.
* Remove ``flexiv::SystemStatus::m_motionCmdSuccessRate``: no longer useful.
* Remove ``flexiv::SystemStatus::m_errorMsg``: accurate error message can be found on the UI tablet.
* Remove ``flexiv::SystemStatus::m_ptStates``: replaced with a dedicated method ``flexiv::Robot::getPrimitiveStates()``.
* Remove ``flexiv::Model::setTool()``, the tool dynamics update is now automated.
* Remove unnecessary smart pointers from all examples.
* Replace unnecessary heap allocation with stack allocation in all examples.
* Reduce continuous network bandwidth consumption by 75%, increasing connection robustness under bad network connections.
* Increase round-trip communication latency tolerance to 1000 ms (only for non-real-time APIs).
* Upgrade ``Eigen`` library in *thirdparty/* to 3.3.7.


FIX

* Missing color in the provided robot URDF.
* Compatibility issue of ``flexiv::Log`` with some versions of the ``fmt`` library.

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

COMPATIBILITY

* Flexiv robot software **v2.8**

ADD

* Loop latency benchmark test

CHANGE

* Remove ``m_reachedReady`` from ``flexiv::SystemStatus`` struct
* Update ground truth in dynamics engine tests
* Remove ``example/tool`` directory

FIX

(None)