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Release 3.13.0

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@hr1799 hr1799 released this 18 Jul 19:25
· 14 commits to ros2 since this release
3.13.0
afbe57b

Changelog:

Features/Changes:

  • Add non-const Group and EndEffector getters to Arm class, and Group getters to EndEffector class
  • Added Arm.setEndEffector function to allow explicitly adding an end effector to an Arm object after construction
  • Improved joint limit objective function stability/behavior; C++ API now has additional tuning parameter to control edge behavior
  • Added time heuristic functions for choosing waypoint times (also exposed in C++ API along with trajectory time conversion methods)
  • Unicast addresses can be passed into the hebiLookup object in addition to broadcast interfaces
  • Added RobotModel.getMaxSpeeds and .getMaxEfforts functions to get max speeds and efforts for DoFs
  • Added Group.logUserState function to write a timestamped UserState event directly to the log file (can be viewed in Scope plots)
  • Added Trajectory.getMinMaxPosition, getMaxVelocity, and getMaxAcceleration functions to get extrema of the trajectory without needing to sample
  • Update CMake minimum version to 3.10 to avoid compatibility/deprecation warnings on more recent versions
  • Support v1.1 of the HEBI robot config format, adding command lifetime and feedback frequency parameters to the config file
  • add enums for T-5/8 and R/T-25 actuators and accessories. These are used with functional RobotModel construction methods as well as getting RobotModel metadata
  • Update C API to v2.20

Bugfixes:

  • C API update includes: (#343, #353)
    • fix COM frame position for R25 heavy brackets
    • Fix issues with “startLog”
    • Library symlink reference fixes
    • Bugfix for Jacobian computation of translational joints
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