0.2.20_beta

Features

• Added the teaching pendant friction coefficient parameter to the gripper/teaching pendant parameter feedback command (both feedback and sending) and adapted the protocol.
• Added ModeCtrl and EmergencyStop functions to set modes and perform emergency stops (future updates will introduce dictionary-based parameter matching for all functions).
• Renamed all data reading files in the demo to start with "read" for easier searching.
• Initialized rx_message as an empty Message() in the C_STD_CAN encapsulation class
• Added piper_param_manager file, which includes angle and gripper range limits, applying constraints to both feedback and control messages.
  • If feedback or control messages exceed the set limits, the values will be clamped to the boundary values.
  • To configure limit ranges, use the SetSDKJointLimitParam and SetSDKGripperRangeParam functions to set software constraints.
    Refer to the piper_sdk_param.py file in the demo for examples.

Bug Fixes

• Fixed the issue where the gripper feedback timestamp was of type int. Now, a unified timestamp retrieval function is used.

0.2.19

Bug Fixes

• Fixed abnormal current feedback values.(High speed piper msg)
  piper_sdk/piper_msgs/msg_v1/feedback/arm_high_spd_feedback.py
  piper_sdk/piper_msgs/msg_v2/feedback/arm_high_spd_feedback.py
  piper_sdk/protocol/protocol_v1/piper_protocol_v1.py
  piper_sdk/protocol/protocol_v2/piper_protocol_v2.py

0.2.18-Yank

Attention!!!
Incorrect unit for current information in high-speed feedback, which caused abnormal values and led to incorrect torque feedback.

Features

• Added effort feedback to high-speed information feedback, with a unit of 0.001 N/m.
• Removed elements in the sh script to ensure compatibility with zsh.
• Added interface_v1 without affecting previous versions, reserving it for future updates.
• Added class references in __init__.py.
• Fixed incorrect comments in msg_v1/__init__.py, msg_v2/__init__.py, protocol/protocol_v2/piper_protocol_v2.py, and arm_low_spd_feedback.py.
• Corrected the unit description of max_joint_acc in the ArmMsgFeedbackCurrentMotorMaxAccLimit class to 0.001 rad/s^2.
• Added firmware version descriptions in the interface documentation.

Bug Fixes

• Modified pyproject.toml to allow proper installation using setup.py (the previous version was missing the version field in the project tag, causing pip install . to fail).
• Fixed the issue where msg_type in msg_v2 was not assigned using auto.
• Fixed missing class references in piper_sdk/__init__.py, which caused errors.
• Fixed an error in protocol where the position information of motor 2 was incorrectly assigned to motor 3.
• Fixed an issue in interface where the timestamp for high-speed feedback data was mistakenly using the timestamp from low-speed feedback data.

0.2.17

• Changed the parameter names of foc_status in piper_msgs/msg_v1(msg_v2)/feedback/arm_low_spd_feedback.py in two files:
  • Renamed sensor_status to collision_status
  • Renamed homing_status to stall_status
• Added type checking (must be of Python's int type) and value range checking (within joint limit range) for the JointCtrl function.
• Added type checking (must be of Python's int type) for the EndPoseCtrl function's input values
• Modified the comments in the SearchAllMotorMaxAngleSpd and SearchAllMotorMaxAccLimit functions to include CAN ID descriptions.
• Added a demo file to set and print the robotic arm's collision level piper_read_crash_protectation.py.
• Modified the arm_high_spd_feedback to set the motor_speed unit to 0.001 rad/s and the current unit to 0.001 A.
• Modified the shell script. Since the sh command does not support == for equality comparison, but bash does, changed it to use = for equality comparison. This allows the script to be used in zsh.

0.1.16

Compared to version 0.1.15, the following changes were made:

• Corrected the output unit for the gripper's printed data.
• Fixed some comments and provided clearer explanations.
• Unified the code formatting to maintain consistency.
• Added data limits for the gripper message sending: [0, 5000], corresponding to [0, 5] N/m.
• Added data limits for setting the maximum joint speed: [0, 3000], corresponding to [0, 3] rad/s.
• Added data limits for setting the maximum joint acceleration: [0, 500], corresponding to [0, 5] rad/s^2.

0.1.15

修复hardware/can_encapsulation.py文件的C_STD_CAN类内的SendCanMessage函数内调用is_can_bus_ok函数时,base_state为None的问题

0.1.14

相比0.1.13，修改了GetFK函数，增加了mode形参来选择计算机械臂关节正解的消息来源

mode仅支持两个参数["feedback","control"]

mode参数默认为"feedback"

• 'feedback' -> 来自机械臂反馈关节角消息，对应GetArmJointMsgs函数反馈的数据；
• 'control' -> 来自机械臂主臂模式下发送的控制关节角消息，对应GetArmJointCtrl函数反馈的数据

0.1.13

在0.1.12版本上修正了一些文档错误，以下为0.1.12的修订

增加新协议的兼容：

• 新增MIT控制指令
• ID 0x474 电机角度限制/最大速度设置指令，增补无效值指令
• ID 0x475 关节设置指令，增补无效值指令
• ID 0x477 机械臂参数查询与设置指令，增补查询夹爪/示教器参数索引:0x04
• ID 0x479 末端速度/加速度参数设置指令，增补无效值指令
• 新增 ID 0x47D 夹爪/示教器参数设置指令
• 新增 ID 0x47E 夹爪/示教器参数反馈指令

interface:

• 类内增加了帧率计算，可以通过 isOk 函数判断can传输是否正常，反馈值为True则表明数据正常传输，如果为False则说明数据断开
• 增加了正解，通过扩展DH参数来计算每个关节相对 base_link 的位姿，通过 GetFK 函数获取，反馈 link1~link6 的位姿，是一个6*6的列表，第-1位为link6的位姿
• 增加mit控制函数 JointMitCtrl
• 增加夹爪/示教器参数设置函数 GripperTeachingPendantParamConfig
• 增加获取can总线当前实时帧率函数 GetCanFps
• 增加获取机械臂每个关节的正解函数 GetFK

0.1.12

增加新协议的兼容：

• 新增MIT控制指令
• ID 0x474 电机角度限制/最大速度设置指令，增补无效值指令
• ID 0x475 关节设置指令，增补无效值指令
• ID 0x477 机械臂参数查询与设置指令，增补查询夹爪/示教器参数索引:0x04
• ID 0x479 末端速度/加速度参数设置指令，增补无效值指令
• 新增 ID 0x47D 夹爪/示教器参数设置指令
• 新增 ID 0x47E 夹爪/示教器参数反馈指令

interface:

• 类内增加了帧率计算，可以通过 isOk 函数判断can传输是否正常，反馈值为True则表明数据正常传输，如果为False则说明数据断开
• 增加了正解，通过扩展DH参数来计算每个关节相对 base_link 的位姿，通过 GetFK 函数获取，反馈 link1~link6 的位姿，是一个6*6的列表，第-1位为link6的位姿
• 增加mit控制函数 JointMitCtrl
• 增加夹爪/示教器参数设置函数 GripperTeachingPendantParamConfig
• 增加获取can总线当前实时帧率函数 GetCanFps
• 增加获取机械臂每个关节的正解函数 GetFK

0.0.12

• 修改can bus类中读取数据部分，令其兼容ubuntu18.04的python3.6版本；
• 修改procotol_base中将数值转换为列表的函数，改为使用struct和ctypes来简化函数；
• 新增interface类特性：增加条件单例特性；
• inferface类中的ConnectPort函数增加线程保护；
• interface类新增DisconnectPort函数来关闭读取；
• 修改interafce中Update函数和一些变量为私有；
• 修改错误注释，令注释更可读；
• 优化文档结构和文档说明。
• 修改jonit错别字
• 增加查询机械臂固件接口
• 增加全部demo(moveC等)
• 修复设定最大电机加速度单位为0.01rad/s^2;增加单独设定电机最大加速度函数JointMaxAccConfig;