v1.3

COMPATIBILITY

• Flexiv software package v3.8

CHANGE

• Update TDK version to v1.3

• Restored Robot2RobotTeleop from V1.1 and renamed it to TransparentCartesianTeleopLAN

• Refactor the TransparentCartesianTeleopLAN class API to make it unified

• Wrench feedback transparency improvement

FIX

None

v1.2.2

COMPATIBILITY

• Flexiv software package v3.7.1

ADD

• Add CartesianTeleopLAN::SetCartesianImpedance().
• Add CartesianTeleopLAN::SetInertiaShaping().
• Add JointTeleopLAN::SetJointImpedance().
• Add JointTeleopWAN::SetJointImpedance().
• Add JointTeleopLAN::SetInertiaShaping().
• Add JointTeleopWAN::SetInertiaShaping().
• Add JointTeleopLAN::DoF().
• Add JointTeleopWAN::DoF().
• Add CartesianTeleopLAN::robot_states().
• Add JointTeleopLAN::robot_states().
• Add JointTeleopWAN::robot_states().
• Add data.hpp.

CHANGE

• Change all digital_inputs() to return array.
• Require index input for fault().
• Update examples.

FIX

None

v1.2.1

COMPATIBILITY

• Flexiv software package v3.7.1

ADD

• Add input parameter network_interface_whitelist to all constructors to allow limiting the network interface(s) that can be used for establishing connection with the local/remote robot.

CHANGE

• Use shared steps in GitHub workflow.
• Improve resource efficiency of background communication services.

FIX

• Fix a bug that causes occasional failure when trying to establish connection with the robot.

v1.2

COMPATIBILITY

• Flexiv software package v3.7

ADD

• Add new API JointTeleopLAN for joint-space robot-robot teleoperation under local area network.
• Add new API JointTeleopWAN for joint-space robot-robot teleoperation under wide area network, i.e. Internet.
• Add examples for the new APIs.
• Add new thirdparty dependencies.

CHANGE

• Replace Robot2RobotTeleop API with the newly designed CartesianTeleopLAN for Cartesian-space robot-robot teleoperation under local area network.
• Remove flexiv_rdk dependency.
• Remove OpenSSL dependency.
• Update README.

FIX

• (None)

v1.1

COMPATIBILITY

• Flexiv software package v3.6

ADD

• Add spdlog for log info printing in terminal and file
• Add Engage() to engage/disengage the teleop
• Add SetWrenchFeedbackScalingFactor to amplify or reduce the wrench feedback

CHANGE

• Bump version to v1.1
• Change cmake_minimum_required version from 3.22.1 to 3.16.3
• Add Ubuntu20.04 compatibility support
• Rename repo name to flexiv_tdk
• Remove dependencies: Eigen, Fast-CDR, Fast-DDS, Boost-Filesystem, using dependency of flexiv_rdk instead.
• Change namespace from flexiv::omni::teleop to flexiv::tdk
• Rename Robot2RobotTeleop.hpp to robot_robot_teleop.hpp
• Rename TeleopDefs.hpp to data.hpp
• Use google style naming
• Change init() to Init()
• Change enable to Enable
• Change stop to Stop
• Change isFault to fault
• Change isOperational to operational
• Change clearFault to ClearFault
• Change step to Step
• Change setLocalNullSpacePosture to SetLocalNullSpacePosture
• Change setRemoteNullSpacePosture to SetRemoteNullSpacePosture
• Change setRemoteMaxWrench to SetMaxContactWrench
• Change setRepulsiveWrench to SetRepulsiveForce
• Change setLocalAxisLockCmd to SetLocalAxisLockCmd
• Change getLocalAxisLockState SetLocalAxisLockCmd
• Change AxisLockDefs to AxisLock
• Delete TeleopRobotInfo
• Delete getLocalInfo
• Delete getRemoteInfo

FIX

• (None)

v1.0

COMPATIBILITY

• RCA3.5

ADD

• Add openssl dependency
• Add Omni license generator and readme
• Add external wrench feedback and wrist singularity avoidance repulsive force
• Add bool isOperational(void)
• Add void setLocalNullSpacePosture(const std::array<double, k_jointDOF>& preferredPositions)
• Add void setRemoteNullSpacePosture(const std::array<double, k_jointDOF>& preferredPositions)
• Add void setRemoteMaxWrench(const std::array<double, k_cartDOF>& max_wrench)
• Add void setRepulsiveWrench( const std::array<double, k_cartDOF>& repulsiveWrench, bool inWorld = true)
• Add TeleopRobotInfo getLocalInfo(void) const
• Add TeleopRobotInfo getRemoteInfo(void) const

CHANGE

• Bump version to v1.0
• Bump boost to version v1.74.0
• Update info in doxygen template
• Remove Ubuntu20.04 support
• Change void clearFault(void) to bool clearFault(void)
• Change void Robot2RobotTeleop::run(bool isBlocking) to void Robot2RobotTeleop::step(void)
• Remove Robot2RobotTeleop::setLocalCartesianStiffness and Robot2RobotTeleop::setRemoteCartesianStiffness

v0.7

COMPATIBILITY

• Internal pre-release

ADD

• Add TeleopDefs.hpp
• Add setLocalAxisLockCmd() to lock/unlock local robot axis
• Add getLocalAxisLockState() to get axis lock states

CHANGE

• Update version

KNOWN_ISSUE

• Force feedback is currently not well supported

v0.6

COMPATIBILITY

• Internal pre-release

ADD

• Add basic robot-robot teleop functionality
• Add omni license check
• Add control box input signal reading
• Update README.md

CHANGE

KNOWN_ISSUE

• Force feedback is currently not supported