v0.3.0

v0.3.0 (2024-12-20)

♻️ Refactor

• remove docs files in protos
• demo_motion
• event_loop: improve event_loop cyclic_task function
• restructure gain retrieval and return as struct in rby1-sdk
• clean up mobility_command example

✨ Features

• add CancelControl function to stop ongoing current control
• update demo motion minimum time and velocity limit scaling
• parameter: add support for temporary parameter setting in SetParameter
• add demo motion example for master arm operation
• model.urdf: update joint limit(torso_3)
• update joint limit
• update default gain values
• add grpc auto-generated code for web ui
• add motor temperature information
• expand gripper tip collision area
• update functionality for joint position target in cartesian command
• add joint position target to cartesian command (WIP)
• add overloaded constructor to PIDGain and add Python examples for gain set/get
• improve gain management and accessibility
• add head gain example and mutex lock for Dynamixel gain and motro state retrieval
• add examples for setting PID gains and factory reset
• add functionality to set and get pid gains
• add docker-compose.sim.yaml for ARM simulation setup
• add docker-compose.sim.yaml for simulation setup
• break eng/rel + home offset
• proto docs update
• add gripper test (python)
• gripper test for python
• update quick ui + qc ui
• qc gui servo on update
• qc gui update
• teleop + demo motion update + quick ui
• quick ui update(zero + ems)
• impedance update
• quick ui update
• record & replay example update

🐛 Fixes

• update gripper range detection
• update head current casting after reverting to previous implementation
• dynamixel_bus: improve motor state reader function
• make joint values realistic (#33)
• robot_command_builder.cpp: update pybind defaults and include stl header
• update current reading logic for dynamixel
• demo_motion.cpp: correct typo in demo motion setjointpositiontarget -> addjointpositiontarget
• check done before cancel call
• correct PID gain mapping and remove redundant torque disable call
• align mobility SE2 and joint velocity direction with RPC program for simulator consistency
• update network settings in docker-compose
• master_arm: fix out of bound access bug
• model.urdf: Change velocity limits for urdf torso_0, torso_1, and left_arm_5
• dynamixel-bus: fix bug
• change delay for dynamixel to 100us
• get control manager state in start_state_update cb function
• typo update
• typo
• update teleoperation example

[main e8db0b3] bump: version 0.2.0 → 0.3.0
2 files changed, 67 insertions(+), 1 deletion(-)

v0.2.0

v0.2.0 (2024-10-02)

✨ Features

• support dynamics in python

[main 4120217] bump: version 0.1.11 → 0.2.0
2 files changed, 7 insertions(+), 1 deletion(-)

v0.1.11

v0.1.11 (2024-09-30)

🐛 Fixes

• remove unnecessary dependency
• resolve package Python requirement issue

[main 1a887dc] bump: version 0.1.10 → 0.1.11
2 files changed, 8 insertions(+), 1 deletion(-)

v0.1.10

v0.1.10 (2024-09-30)

🐛 Fixes

• make sdist once

[main 1ca3f40] bump: version 0.1.9 → 0.1.10
2 files changed, 7 insertions(+), 1 deletion(-)