OmniHand SDK v1.1.11

Full Changelog: v1.1.10...v1.1.11

1. Added C++ timestamped feedback APIs for motion, status, and tactile data.
2. Supported motor firmware version queries, and 1D tactile for H3U-M T1.5.
3. Supported palm/power board temperature queries for H3U-M.
4. Updated H3UM T1.5 mixed-control current limits to 2000 mA maximum and 1900 mA default.
5. Added H3L-M support and left/right-hand angle and motor-position conversion APIs.
6. Added OP3 production stroke calibration APIs over CAN and RS485.
7. Added configurable frame-send timeouts for serial, HCAN, ZLG CAN, and SocketCAN.
8. Improved USB reconnection, OTA handling, firmware path compatibility, and serial error diagnostics.
9. Fixed single-joint mixed control for O10/O12 and corrected H3L mixed-control defaults.
10. Unified the server implementation around C++ and added public C++/Python REST and WebSocket clients.

OmniHand SDK v1.1.10

Full Changelog: v1.1.9...v1.1.10

1. Added direct support for H3UM T1.5, including joint ranges, tactile sensing, etc.
2. Added an API for calculating all joint angles from existing motor positions, avoiding redundant communication.
3. Enhanced OP3 with stroke control in millimeters, gentle grip, a ROS 2 node, examples, and tests.
4. Added the H3L Python API, unified Pytest coverage, and six-channel tactile support for its ROS 2 node.
5. Improved ROS 2 joint mapping using joint_names, with fallback to the SDK default order when names do not fully match.
6. Fixed O10 CAN FD fingertip tactile data, RS485 OTA, and O12 serial-number retrieval.
7. Optimized OP1 firmware-upgrade logging and progress callbacks to reduce repetitive output.
8. Fixed broadcast discovery, and device-ID capability detection for O10, H3L and OP3.
9. Changed the supply-voltage field from int16_t to uint16_t to prevent valid values from being interpreted as negative.
10. Updated C++/Python tests, documentation, examples, and cross-platform build scripts.

OmniHand SDK v1.1.9

Full Changelog: v1.1.8...v1.1.9

1. Added unified device-ID discovery, configuration, and default restoration APIs.
2. Added and improved RS485 support for O10, H3L, and OP3.
3. Enhanced H3UM with mixed control, motor-zeroing, tactile service probing, and Python kinematics support.
4. Added unified serial-number and tactile metadata APIs.
5. Added timestamps and new control topics to ROS 2 messages.
6. Improved serial reconnection, reply matching, CAN communication, OTA, and release packaging.

OmniHand SDK v1.1.8

Full Changelog: v1.1.7...v1.1.8

1. Add C++ Crow and Python FastAPI REST/WebSocket hand-control servers, web UI, and OpenAPI docs;
2. Add optional Xense finger tactile and SoC palm tactile support for OmniHand 3 Ultra M;
3. Add SocketCAN discovery and persistent setup; improve HCAN, ZLG CAN, serial, and O10 RS485 handling;
4. Restructure ROS 2 packages for external SDK linkage and Docker-based release builds;
5. Breaking: remove TJ Marvin transports; change OmniPicker 2025 SetPositionRatio to return a normalized float.

OmniHand SDK v1.1.7

Full Changelog: v1.1.6...v1.1.7

1. Add(OP1): USB/Fibre implementation with MIT control, range query, USB demo
2. Add(OP1): add CANFD broadcast frame support and CANFD frame range query, rename OP1 CANFD frame/state APIs
3. Add(H3L): H3L kinematics, active joint angle range query, Python bindings
4. Fix HCAN and ZLGCAN device scanning and cache behavior

OmniHand SDK v1.1.6

Full Changelog: v1.1.5...v1.1.6

1. feat(OP1): add OmniPicker 2025 SDK interface.
2. feat(scan): add CAN and serial device scan APIs.
3. feat(control): add single-joint mix control for O10/H3L/O12.
4. feat(tactile): add tactile sensor data support for H3L.
5. fix: resolve scan, control, build, and test issues.

OmniHand SDK v1.1.5

Full Changelog: v1.1.4...v1.1.5

1. Add OP1 (OmniPicker 2025) C++ implementation with full interface, demo, and logging;
2. Add O12 torque control API and Python binding;
3. Add OP3 C++ demo; fix OP3 motor position range retrieval;
4. Fix O12 SetPositionFineTuneMode and torque control function signatures;
5. Fix mix control feedback data parsing;
6. Fix SocketCAN recv thread busy-loop (100% CPU) ;
7. Refactor motor parameter ranges: remove IOmniHandMotorRange virtual interface, use product-specific static functions;
8. Refactor solver calibration data: use static inline const vector to eliminate duplication; add static interfaces.

OmniHand SDK v1.1.4

Full Changelog: v1.1.3...v1.1.4

1. O12: Added voltage control for Omnihand Pro 2025, provide interface for cpp, python & ros2.
2. docs: Added description for O12 voltage control.
3. OP3: Fixed tactile sensor bug for OmniPicker 3.
4. fix: Fixed known legacy issues.

OmniHand SDK v1.1.3

Full Changelog: v1.1.2...v1.1.3

1. O10: unified mixed-control support, added position–torque and position–velocity–torque demos for C++, Python, and ROS2.
2. O12: improved mixed-control support and tactile interface behavior.
3. H3L: added mixed-control support and device ID configuration, updated ROS2 control demos.
4. API: unified gesture APIs, added motor range query, and removed deprecated interfaces & add data logging callback.
5. expanded coverage, disabled unsafe and unstable tests.
6. Fixed several known bugs.

OmniHand SDK v1.1.2

Full Changelog: v1.1.1...v1.1.2

1. ROS2: fixed demo, and changed tactile via periodic cmd trigger.
2. O12: fixed OTA and palm tactile, added gesture for packing, and added fine-tuning in position mode.
3. O10&H3L: merged private & non-private implementation.
4. Added GetHandGesture to get the motor position of pre-defined gesture.
5. Fixed mix control for O10, O12, H3L and OP3.
6. OP3 added function to get the raw data of tactile sensor.