Release 0.2.0 - Waypoint Trajectories #118
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Validate Waypoint trajectory segments
Introduce waypoint trajectory RPCs
Lift and arm trajectories
Dynamixel trajectories
Mobile base trajectories
Whole body trajectories
This commented code should help remind us to implement this in the future. Currently, the firmware tool is not ready to support this on my robot, which has Ubuntu 20.04, Noetic, and early firmware.
…rror fixed baud map bug
fix contact thresh bug
Fixed EndOfArm tools unittest
Trajectory API Tweaks and Fixes
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This release brings support for waypoint trajectories into master. Support for waypoint trajectories was built up over the last year in the feature/waypoint_trajectories_py3 branch, however, this branch couldn't be merged because the new functionality had flaky performance due to subtle bugs. This branch also attempted to introduce support for Python3 and timestamp synchronization. Support for Python3 and other features were merged in v0.1.0. The remaining features from this branch have been broken into 7 PRs, each targeting a specific device and squashing any previous bugs through functional and performance testing. They are:
This release also fixes several bugs. They are:
Each PR in this release was tested on multiple robots, but was primarily tested on G2, on Python 2.7/Ubuntu 18.04.