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.