0.5.0

Version 0.5.0

Features

• ✨ feat(interface): Added abnormal data filtering for gripper travel, joint angle, and end-point data.
  • Abnormal data filtering is enabled by default. Use the DisableFilterAbnormalData function to disable it; use the EnableFilterAbnormalData function to enable it. The isFilterAbnormalData function returns True to indicate that the abnormal data filtering function is enabled.
  • The gripper travel filter is set to 150mm*1000;
  • The joint angle filter is set to 300 degrees*1000;
  • The end-point data xyz filter is set to 1m*1000*1000, and the rpy filter is set to 361 degrees*1000.
• ✨ feat(interface): Add the get function GetCanBus of the can class

Bug Fixes

• 🐞 fix(msg, protocol, interface): Added command response feedback functionality, deprecating the previous version's set command response function.
  • Due to a protocol misunderstanding, the previous version's command response function was a send function, but the protocol actually uses a feedback message.
  • This update adds GetRespInstruction, a function for getting command response feedback, and ClearRespSetInstruction, a function for clearing stored command response messages. This function sets the timestamp variable in the command response feedback message to 0 and all other messages to -1.
  • Added the demo piper_read_resp_instruction.py.
  • The SetInstructionResponse function has been deprecated; calling it will generate a warning.

Miscellaneous

• 📃 docs(INTERFACE_V2.MD): Add Get class function comments and new function descriptions