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CHANGELOG

0.5.0 - 2018-08-08

Motion and control interfaces

  • BREAKING Added low-pass filter for all realtime interfaces with default cutoff frequency of 100 Hz
  • DEPRECATED franka::Robot::setFilters in favor of franka::lowpassFilter
  • Fixed description of log record entries

Library

  • Added lowpass_filter.h to public interface

Examples

  • Added communication_test.cpp to evaluate network performance.

0.4.0 - 2018-06-21

Requires Panda system version >= 1.3.0

Motion and control interfaces

  • BREAKING Added rate limiting of commanded values as an option in the control loop and as a helper function. Rate limiting is activated by default, this could change the behavior of existing programs. Only works when filters (franka::Robot::setFilters) are deactivated.
  • Added joint_move_in_wrong_direction error to franka::RobotState
  • Added first and second derivatives of last commanded signals to franka::RobotState

Library

  • Added rate_limiting.h to public interface
  • Removed unnecessary CMake script from installation

0.3.0 - 2018-02-22

Requires Panda system version >= 1.2.0

Motion and control interfaces

  • Added optional epsilon parameters to franka::Gripper::grasp

Examples

  • Set default collision behavior, impedances, and filter frequencies
  • Removed command line parameters to simplify usage
  • Fixed locking bug in joint_impedance_control

Library

  • BREAKING Changed signatures and added overloads in franka::Model
  • Added additional variables to installed CMake config
  • Updated SOVERSION to include minor version number
  • Added conflict with ros-kinetic-libfranka to Debian packaging
  • Minor fixes and improvements for API documentation
  • Fixed build errors on Clang 5.0
  • Fixed test errors for Poco >= 1.8.0

0.2.0 - 2018-01-29

Requires Panda system version >= 1.1.0

Motion and control interfaces

  • Improved external torque tracking behavior.
  • Fixed discontinuities in commanding orientation changes via the cartesian pose interface.
  • Added joint_p2p_insufficient_torque_for_planning, tau_j_range_violation, and instability_detected errors to franka::RobotState
  • Added tau_J_d, m_ee, F_x_Cee, I_ee, m_total, F_x_Ctotal, I_total, theta and dtheta to franka::RobotState
  • Added setFilter command to franka::Robot
  • Added support for commanding elbow positions for Cartesian motions.
  • Added stiffness frame K to franka::Model
  • BREAKING Replaced p_min and p_max of franka::VirtualWallCuboid with object_world_size

Error handling

  • WARNING Not all robot errors can be recovered using the guiding button on the robot anymore. To manually recover from such errors, please use the the Franka DESK web interface.
  • Added logs to ControlException and improved exception messages.
  • Fail earlier (by throwing exception) if any of the commanded values are NaN or infinity.

Examples

  • Added saturation to joint velocity, joint position, and joint impedance examples.
  • Changed examples to read initial states inside control loops (after controller switching).
  • Examples first move to an initial joint position.
  • Added new cartesian impedance and force control examples.
  • Lowered grasping force in grasp_object example

Library

  • BREAKING New build-time dependency on Eigen3.
  • Changed thread priority to the maximum allowed value.
  • Prepare for the removal of the socket-init in the default constructor in POCO releases >= 1.8.0.
  • Removed unnecessary public dependencies for libfranka.
  • CI: Run linter on examples
  • Docu: Use SVG instead of MathML for math rendering in API documentation to support Chrome.

0.1.0 - 2017-09-15

  • Initial release