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Release/v1.7#108

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Commits on Mar 10, 2025

• Add RobotEvent struct to data.hpp

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• Add RobotInfo::DoF_e and DoF_m

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• Remove RobotStates::q_e, dq_e, and tau_e

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• Update member naming in JPos

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• Update member naming in Coord

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• Add ostream operator overload for RobotEvent struct

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• Change logic_error to invalid_argument for Device functions if the specified device does not exist

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• Change logic_error to invalid_argument for Gripper functions if the specified gripper does not exist

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• Change logic_error to invalid_argument for Tool functions if the specified tool does not exist

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• Remove IDLE mode requirement for FileIO class

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• Add FileIO::traj_files_list() and DownloadTrajFile()

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• Add Mode::NRT_SUPER_PRIMITIVE

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• Add Model::configuration_score()

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• Replace Robot::mu_log() with event_log()

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• Change Robot::SetGlobalVariables to throw invalid_argument from logic_error if any specified global var does not exist

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• Add Robot::LockExternalAxes()

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• Change default values of Z_q in Robot::SetJointImpedance() from vector of 0.7 to empty vector

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• Add NRT_SUPER_PRIMITIVE as applicable control mode for functions that support NRT_CARTESIAN_MOTION_FORCE mode

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• Overload Robot::SetDigitalOutputs() with a new version that takes in std::map, deprecate the old one

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• Add warning note to Safety functions

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• Add Tool::CalibratePayloadParams()

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• Change logic_error to invalid_argument for WorkCoord functions if the specified work coord does not exist

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• Update Ubuntu x86_64 lib

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• Add third-party dependencies appendix to LICENSE file

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• Remove input param [properties] from Robot::ExecutePrimitive()

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• Remove "lockExternalAxes" from examples

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Commits on Mar 14, 2025

• Remove const specifier on return by value copy

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• Add input parameter [verbose] to rdk::Robot constructor

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• Remove input parameter [verbose] from Robot::operational(), the printed information is already included in Robot::operational_status()

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• Change warning print to throw exception for Robot::Enable() if e-stop is not released when this function is called

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• Remove warning print from Robot::RunAutoRecovery() if the robot is not in recovery mode when this function is called

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• Update Ubuntu x86_64 lib

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Commits on Mar 24, 2025

• Reorder struct members of GripperParams

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• Gripper::Grasp() and Move() throw invalid_argument if the input is outside the valid range

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• Change optional parameter [force_limit] to mandatory in Gripper::Move()

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• Remove real-time tag from accessor functions

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• Update Ubuntu x86_64 lib

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Commits on Mar 26, 2025

• Define DeviceParamDataTypes alias

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• Update docs

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• Update CPACK_PACKAGE_DESCRIPTION

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Commits on Mar 28, 2025

• Update Rizon4 URDF, rename robot name from rizon4 to Rizon4

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• Update Rizon4s URDF, rename robot name from rizon4s to Rizon4s

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• Update Rizon10 URDF, rename robot name from rizon10 to Rizon10

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• Update Rizon10s URDF, rename robot name from rizon10s to Rizon10s

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• Add URDF and meshes for Rizon4M (medical)

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• Add URDF and meshes for Rizon4R (mirror)

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Commits on Apr 4, 2025

• Add mtl files

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Commits on Apr 7, 2025

• Fix broken link7 obj files

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• Remove <material> fields from urdf

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• Update usage of ZeroFTSensor primitive

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• Update Ubuntu x96_64 lib

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Commits on Apr 9, 2025

• Improve function docs

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Commits on Apr 10, 2025

• Fix python example

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Commits on Apr 14, 2025

• Increase SwitchMode attempts

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Commits on Apr 24, 2025

• Merge branch 'main' of https://github.com/flexivrobotics/flexiv_rdk into release/v1.7

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• Add space after the title of issue templates

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• Bump project version number to 1.7.0

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• Update Ubuntu x86_64 and Windows amd64 libs

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• Fix typo

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Commits on Apr 25, 2025

• Fix doc

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• Fix doc

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Commits on Apr 28, 2025

• Update macOS lib

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• Update SetDigitalOutputs usage in test

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• Update Ubuntu aarch64 lib

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• Remove workflow on Ubuntu 20.04 as GitHub has retired it on 4/15/2025

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