Skip to content

Release 3.16.0

Choose a tag to compare

View all tags
@hr1799 hr1799 released this 07 Jan 19:48
· 1 commit to ros2 since this release
3.16.0
eaa1493

Changelog:

Features/Changes:

  • Added function to rescale trajectory duration
  • Add function to create a trapezoidal-like trajectory with minimum jerk acceleration and deceleration phases (e.g., "Jerkazoidal")
  • Update C API dependency to 2.23.1 to fix various issues and enable trajectory rescaling and jerkazoidal functionality listed above
  • Add settable acceleration and velocity limits to hebi::Arm object. By default these are set based on the module types in the HRDF file, defaulting to infinity for basic "joint" types. When setting a new goal, these limits are respected and the trajectory timestamps are rescaled if necessary to prevent exceeding the limits.
  • Add several new arm::Goal constructors allowing creation of a goal by defining position and velocity but not accelerations

Bugfixes:

  • Do not limit unicast lookup addresses to current network interface address ranges (from C API update 2.22.1)
  • Fixed RX sequence number of receive timestamps on GroupFeedback objects read from log files (from C API update 2.23.0)
  • Performance optimization when writing logfiles, and other improved internal error handling (from C API update 2.23.0)
Assets 2
Loading