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Changelog#

Attention

This software is highly unstable and subject to change at any time.

[v0.2.0] - Unreleased#

❗ Breaking Changes#

  • All user-facing interfaces now default to use radians instead of degrees.
  • URDF now loads from Wiki-GRx-Models via fourier-robot-descriptions package.
  • Nameing convention for all links and joints are now consistent with the URDF.
  • Config file structure changed
  • Unify joint getter naming to use plural （ since alpha 4 )

🗑️ Deprecations#

  • Deprecate self.states in RobotClient in favor of individual properties （ since alpha 4 )

🚀 Features#

  • Robot namespace support in both CLI and API
  • control_joints API for velocity mode and current mode
  • forward kinematcs and inverse kinematics API
  • Add gravity compensation option to move_joints
  • movej API
  • movel API (since a6)
  • move and movej now support gravity compensation

💪 Enhancements#

  • Add py.typed file to package
  • Migrated all examples from iki-grx-deploy
  • Jupyter notebook tutorial

🐛 Bug Fixes#

  • Disabled zenoh broadcast by default to avoid clashes with other zenoh clients

[v0.1.5] - 2024-09-11#

💪 Enhancements#

  • Fortify service call handling in ZenohSession

🐛 Bug Fixes#

  • Rename zenoh.py to zenoh_utils.py to avoid name clashing

[v0.1.4] - 2024-08-30#

💪 Enhancements#

  • Add degrees option to move_joints
  • Better documentation for move_joints

[v0.1.3] - 2024-08-30#

💪 Enhancements#

  • Explicitly define exports in __init__.py

[v0.1.2] - 2024-08-30#

🚀 Features#

  • Support fourier-grx version v0.1.1-rc.6

[v0.1.1] - 2024-08-30#

🐛 Bug Fixes#

  • Fix typo in RobotClient
  • Allow multicast for compatibility

[v0.1.0] - 2024-08-30#

🚀 Features#

  • Support python >= 3.8
  • Support fourier-grx version v0.1.1-rc.3
  • Allow addressing control groups by name in move_joints