Release/v1.9.3 - #201
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Merged
Release/v1.9.3#201
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…ce method and updating documentation for NRT_SUPER_PRIMITIVE mode
pzhu-flexiv
requested review from
ZhipengZhang-flexiv,
bsoe-flexiv,
Copilot,
munseng-flexiv and
zfquek-flexiv
July 28, 2026 00:05
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Pull request overview
Release v1.9.3 update that extends the public C++ API for non-real-time Cartesian motion/force control and aligns repository metadata (versioning, docs, CI) with the new release artifacts.
Changes:
- Add
NrtCartesianCmdand introduceRobot::SendMultiCartesianMotionForce()for discrete multi-waypoint NRT Cartesian motion/force commands. - Bump project/documentation version to 1.9.3 and simplify API documentation instructions in README.
- Update CI workflow branch filters and refresh shipped library checksum files.
Reviewed changes
Copilot reviewed 15 out of 15 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| README.md | Updates API documentation instructions to point to hosted docs and release dropdown. |
| include/flexiv/rdk/robot.hpp | Adds SendMultiCartesianMotionForce() declaration and related Doxygen docs/refs. |
| include/flexiv/rdk/mode.hpp | Updates NRT_SUPER_PRIMITIVE docs to reference the new API. |
| include/flexiv/rdk/data.hpp | Adds NrtCartesianCmd struct for NRT Cartesian motion/force waypoint data. |
| CMakeLists.txt | Bumps project version to 1.9.3. |
| doc/Doxyfile.in | Bumps documentation PROJECT_NUMBER to 1.9.3. |
| .github/workflows/cmake.yml | Restricts CI triggers to the v1.x branch. |
| lib/libflexiv_rdk.x86_64-qnx.a.sha256 | Updates prebuilt library checksum. |
| lib/libflexiv_rdk.x86_64-linux-gnu.ros2-jazzy.a.sha256 | Updates prebuilt library checksum. |
| lib/libflexiv_rdk.x86_64-linux-gnu.a.sha256 | Updates prebuilt library checksum. |
| lib/libflexiv_rdk.arm64-darwin.a.sha256 | Updates prebuilt library checksum. |
| lib/libflexiv_rdk.aarch64-qnx.a.sha256 | Updates prebuilt library checksum. |
| lib/libflexiv_rdk.aarch64-linux-gnu.ros2-jazzy.a.sha256 | Updates prebuilt library checksum. |
| lib/libflexiv_rdk.aarch64-linux-gnu.a.sha256 | Updates prebuilt library checksum. |
| lib/flexiv_rdk.win_amd64.lib.sha256 | Updates prebuilt library checksum. |
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munseng-flexiv
approved these changes
Jul 28, 2026
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COMPATIBILITY
ADD
NrtCartesianCmdstruct todata.hpp.Robot::SendMultiCartesianMotionForce()to discretely send Cartesian multi-waypoint motion and/or force commands underNRT_SUPER_PRIMITIVEmode.CHANGE
Robot::Stop()to return directly if the robot is already in fault state.v1.xbranch.FIX
Robot::event_log()thread-safe ([QUESTION] RDK API Thread safety #198).rdk::Modelthread-safe ([QUESTION] RDK API Thread safety #198).rdk::Schedulerthread-safe ([QUESTION] RDK API Thread safety #198).