Release/v1.9.3

.github/workflows/cmake.yml

@@ -2,9 +2,9 @@ name: CMake
 
 on:
   push:
-    branches: [main, "v*.x"]
+    branches: [v1.x]
   pull_request:
-    branches: [main, "v*.x"]
+    branches: [v1.x]
   workflow_dispatch:
 
 env:

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_rdk VERSION 1.9.2 LANGUAGES CXX)
+project(flexiv_rdk VERSION 1.9.3 LANGUAGES CXX)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)

README.md

@@ -182,11 +182,4 @@ Note:
 
 ## API Documentation
 
-The complete and detailed API documentation of the **latest release** can be found at [Flexiv RDK APIs](https://www.flexiv.com/software/rdk/api). The API documentation of a previous release can be generated manually using Doxygen. For example, on Linux:
-
-    sudo apt install doxygen-latex graphviz
-    cd flexiv_rdk
-    git checkout <previous_release_tag>
-    doxygen doc/Doxyfile.in
-
-Open any html file under `flexiv_rdk/doc/html/` with your browser to view the doc.
+The complete and detailed API documentation can be found at [Flexiv RDK APIs](https://www.flexiv.com/software/rdk/api). The page shows the latest release by default. You can view previous releases using the dropdown menu at the top right corner.

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv RDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.9.2
+PROJECT_NUMBER         = 1.9.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

include/flexiv/rdk/data.hpp

@@ -481,6 +481,78 @@ struct Coord
     std::string str() const;
 };
 
+/**
+ * @struct NrtCartesianCmd
+ * @brief Commands data for a single waypoint in non-real-time Cartesian motion-force control.
+ * @see Robot::SendCartesianMotionForce(), Robot::SendMultiCartesianMotionForce().
+ */
+struct NrtCartesianCmd
+{
+    /** Default constructor */
+    NrtCartesianCmd() = default;
+
+    /**
+     * @brief Custom constructor.
+     * @param[in] pose_d Target TCP pose in world frame.
+     * @param[in] wrench_d Target TCP wrench in the force control reference frame.
+     * @param[in] twist_d Target TCP twist in world frame.
+     * @param[in] max_linear_vel Maximum Cartesian linear velocity when moving to the target pose.
+     * @param[in] max_angular_vel Maximum Cartesian angular velocity when moving to the target pose.
+     * @param[in] max_linear_acc Maximum Cartesian linear acceleration when moving to the target
+     * pose.
+     * @param[in] max_angular_acc Maximum Cartesian angular acceleration when moving to the target
+     * pose.
+     */
+    NrtCartesianCmd(const std::array<double, kPoseSize>& pose_d,
+        const std::array<double, kCartDoF>& wrench_d = {},
+        const std::array<double, kCartDoF>& twist_d = {}, double max_linear_vel = 0.5,
+        double max_angular_vel = 1.0, double max_linear_acc = 2.0, double max_angular_acc = 5.0)
+    : pose_d(pose_d)
+    , wrench_d(wrench_d)
+    , twist_d(twist_d)
+    , max_linear_vel(max_linear_vel)
+    , max_angular_vel(max_angular_vel)
+    , max_linear_acc(max_linear_acc)
+    , max_angular_acc(max_angular_acc)
+    {
+    }
+
+    /** Target TCP pose in world frame: \f$ {^{O}T_{TCP}}_{d} \in \mathbb{R}^{7 \times 1} \f$.
+     * Consists of \f$ \mathbb{R}^{3 \times 1} \f$ position and \f$ \mathbb{R}^{4 \times 1} \f$
+     * quaternion: \f$ [x, y, z, q_w, q_x, q_y, q_z]^T \f$. Unit: \f$ [m]:[] \f$ */
+    std::array<double, kPoseSize> pose_d = {};
+
+    /** Target TCP wrench in the force control reference frame (configured by
+     * SetForceControlFrame()): \f$ ^{O}F_d \in \mathbb{R}^{6 \times 1} \f$. The robot will track
+     * the target wrench using an explicit force controller. Consists of \f$ \mathbb{R}^{3 \times 1}
+     * \f$ force and \f$ \mathbb{R}^{3 \times 1} \f$ moment: \f$ [f_x, f_y, f_z, m_x, m_y, m_z]^T
+     * \f$. Unit: \f$ [N]:[Nm] \f$ */
+    std::array<double, kCartDoF> wrench_d = {};
+
+    /** Target TCP twist in world frame: \f$ ^{O}\dot{x}_d \in \mathbb{R}^{6 \times 1} \f$.
+     * Providing properly calculated target twist can improve the robot's overall tracking
+     * performance at the cost of reduced robustness. Leaving this input 0 can maximize robustness
+     * at the cost of reduced tracking performance. Consists of \f$ \mathbb{R}^{3 \times 1} \f$
+     * linear and \f$ \mathbb{R}^{3 \times 1} \f$ angular velocity. Unit: \f$ [m/s]:[rad/s] \f$ */
+    std::array<double, kCartDoF> twist_d = {};
+
+    /** Maximum Cartesian linear velocity when moving to the target pose. A safe value is provided
+     * as default. Unit: \f$ [m/s] \f$ */
+    double max_linear_vel = 0.5;
+
+    /** Maximum Cartesian angular velocity when moving to the target pose. A safe value is provided
+     * as default. Unit: \f$ [rad/s] \f$ */
+    double max_angular_vel = 1.0;
+
+    /** Maximum Cartesian linear acceleration when moving to the target pose. A safe value is
+     * provided as default. Unit: \f$ [m/s^2] \f$ */
+    double max_linear_acc = 2.0;
+
+    /** Maximum Cartesian angular acceleration when moving to the target pose. A safe value is
+     * provided as default. Unit: \f$ [rad/s^2] \f$ */
+    double max_angular_acc = 5.0;
+};
+
 /** Alias of the variant that holds all possible types of data exchanged with Flexiv robots */
 using FlexivDataTypes = std::variant<int, double, std::string, rdk::JPos, rdk::Coord,
     std::vector<int>, std::vector<double>, std::vector<std::string>, std::vector<rdk::JPos>,

include/flexiv/rdk/mode.hpp

@@ -99,7 +99,7 @@ enum class Mode
      * Run non-real-time super primitives, i.e. composite tasks that consist of various components
      * like motion, force, vision, planning, etc.
      * @note Non-real-time (NRT) mode.
-     * @see Robot::SendCartesianMotionForce().
+     * @see Robot::SendCartesianMotionForce(), Robot::SendMultiCartesianMotionForce().
      */
     NRT_SUPER_PRIMITIVE,
 };

include/flexiv/rdk/robot.hpp

@@ -688,13 +688,50 @@ class Robot
      * the rest axes motion-controlled, then provide target pose for the motion-controlled axes and
      * target wrench for the force-controlled axes.
      * @see SetCartesianImpedance(), SetMaxContactWrench(), SetNullSpacePosture(),
-     * SetForceControlAxis(), SetForceControlFrame(), SetPassiveForceControl().
+     * SetForceControlAxis(), SetForceControlFrame(), SetPassiveForceControl(),
+     * SendMultiCartesianMotionForce().
      */
     void SendCartesianMotionForce(const std::array<double, kPoseSize>& pose,
         const std::array<double, kCartDoF>& wrench = {},
         const std::array<double, kCartDoF>& velocity = {}, double max_linear_vel = 0.5,
         double max_angular_vel = 1.0, double max_linear_acc = 2.0, double max_angular_acc = 5.0);
 
+    /**
+     * @brief [Non-blocking] Discretely send Cartesian multi-waypoint motion and/or force commands
+     * for the robot to track using non-real-time super primitives. The robot will execute the
+     * provided waypoints sequentially using onboard motion generation.
+     * @param[in] cart_cmds Non-real-time Cartesian motion/force commands for each waypoint. Each
+     * element uses the same data layout as a single command in SendCartesianMotionForce().
+     * @param[in] joint_pos Sequence of target joint positions [rad] for each waypoint. Each element
+     * must contain RobotInfo::DoF values, i.e. the full system degrees of freedom including the
+     * manipulator and any external axes. Size must match [cart_cmds].
+     * @throw std::invalid_argument if [cart_cmds] is empty, if [joint_pos] is empty, if
+     * [cart_cmds] and [joint_pos] do not contain the same number of waypoints, if any waypoint's
+     * last 4 input parameters is not positive, or if any joint position vector size is not equal
+     * to RobotInfo::DoF.
+     * @throw std::logic_error if the robot is not in the correct control mode.
+     * @throw std::runtime_error if the robot is not operational.
+     * @note Applicable control modes: NRT_SUPER_PRIMITIVE.
+     * @warning Same as Flexiv Elements, the target wrench is expressed as wrench sensed at TCP
+     * instead of wrench exerted by TCP. E.g. commanding f_z = +5 N will make the end-effector move
+     * towards -Z direction, so that upon contact, the sensed force will be +5 N.
+     * @par How to achieve pure motion control?
+     * Use SetForceControlAxis() to disable force control for all Cartesian axes to achieve pure
+     * motion control. This function does pure motion control by default.
+     * @par How to achieve pure force control?
+     * Use SetForceControlAxis() to enable force control for all Cartesian axes to achieve pure
+     * force control, active or passive.
+     * @par How to achieve unified motion-force control?
+     * Use SetForceControlAxis() to enable force control for one or more Cartesian axes and leave
+     * the rest axes motion-controlled, then provide target pose for the motion-controlled axes and
+     * target wrench for the force-controlled axes.
+     * @see SetCartesianImpedance(), SetMaxContactWrench(), SetNullSpacePosture(),
+     * SetForceControlAxis(), SetForceControlFrame(), SetPassiveForceControl(),
+     * SendCartesianMotionForce().
+     */
+    void SendMultiCartesianMotionForce(const std::vector<NrtCartesianCmd>& cart_cmds,
+        const std::vector<std::vector<double>>& joint_pos);
+
     /**
      * @brief [Blocking] Set impedance properties of the robot's Cartesian motion controller
      * used in the Cartesian motion-force control modes.

lib/libflexiv_rdk.aarch64-linux-gnu.a.sha256

@@ -1 +1 @@
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lib/libflexiv_rdk.aarch64-linux-gnu.ros2-jazzy.a.sha256

@@ -1 +1 @@
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lib/libflexiv_rdk.aarch64-qnx.a.sha256

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lib/libflexiv_rdk.arm64-darwin.a.sha256

@@ -1 +1 @@
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lib/libflexiv_rdk.x86_64-linux-gnu.a.sha256

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lib/libflexiv_rdk.x86_64-linux-gnu.ros2-jazzy.a.sha256

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lib/libflexiv_rdk.x86_64-qnx.a.sha256

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