首页
开源
资讯
活动
开源许可证
软件工程云服务
软件代码质量检测云服务
持续集成与部署云服务
社区个性化内容推荐服务
贡献审阅人推荐服务
群体化学习服务
重睛鸟代码扫描工具
登录
注册
代码拉取完成，页面将自动刷新
Watch
1
Star
0
Fork
0
IronHeadMan
/
libfranka
Fork 仓库
加载中
取消
确认
代码
Issues
0
Pull Requests
0
Wiki
0
统计
标签
标签名
描述
提交信息
操作
0.10.0
0.10.0 - 2022-09-02 Requires Franka Research 3 system version >= 5.2.0 * **BREAKING** Remove getVirtualWall and setFilters commands * **BREAKING** Disable rate-limiter by default * **BREAKING** Adapt rate limiting values in `rate_limiting.h` for FR3 robot
4f9e3cc
2022-09-02 14:59
下载
0.9.2
f3b8d77
2022-08-31 23:00
下载
0.9.1
83e931c
2022-08-26 16:33
下载
0.9.0
c452ba2
2022-03-25 22:37
下载
0.8.0
0.8.0 - 2020-04-29 Requires Panda system version >= 4.0.0 * **BREAKING** Change behavior of `franka::Robot::setEE`. Previously, this method would set the flange-to-end-effector transformation `F_T_EE`. This has been split up into two transformations: `F_T_NE`, only settable in Desk, and `NE_T_EE`, which can be set in `libfranka` with `setEE` and defaults to the identity transformation. * Add `F_T_NE` and `NE_T_EE` to `franka::RobotState`. * Add support for the cobot pump with `franka::VacuumGripper`. * CPack: Add conflict with `ros-melodic-libfranka`. * Fix missing include for Windows (#55).
faa0219
2020-06-17 17:00
下载
0.7.1
0.7.1 - 2019-06-08 Requires Panda system version >= 3.0.0 Changed * Fix compilation error on ARM.
80197c6
2019-07-08 17:55
下载
0.7.0
0.7.0 - 2019-06-05 Requires Panda system version >= 3.0.0 Added * Add support for using `franka::Model` on Linux ARM and ARM64 (requires Panda system version >= 3.1.0). * Add Cartesian low-pass filter in `lowpass_filter.h`. * Add `control_tools.h` with helper functions for writing control loops. Changed * **BREAKING** Rename `franka::CartesianPose::hasValidElbow()` to `franka::CartesianPose::hasElbow()`. * **BREAKING** Throw `std::invalid_argument` in `franka::Robot::control` if NaN or infinity values are returned from a control callback. * **BREAKING** Throw `std::invalid_argument` in low-pass filter and rate limiting functions if invalid values are given as function parameters. * **BREAKING** Do not throw exceptions in constructors of control types anymore. * Take arguments by value in `franka::MotionFinished`. * Bug fixes in `communication_test.cpp`. * Export requirements for C++ features as CMake target compile features.
3a9aea1
2019-07-05 20:02
下载
0.6.0
0.6.0 - 2019-02-06 Requires Panda system version >= 3.0.0 * Added support for Ubuntu 18.04 (Bionic). * **EXPERIMENTAL** Added support for Windows. * Added support for using `franka::Model` on Linux and Windows x86 and x64. * Bugfix for aborting gripper commands with `franka::Gripper::stop()`. * Improved documentation for `franka::Robot::setCollisionBehavior`.
2b99ab9
2019-02-07 00:35
下载
0.5.0
0.5.0 - 2018-08-08 Motion and control interfaces * **BREAKING** Added low-pass filter for all realtime interfaces with default cutoff frequency of 100 Hz * **DEPRECATED** `franka::Robot::setFilters` in favor of `franka::lowpassFilter` * Fixed description of log record entries Library * Added `lowpass_filter.h` to public interface Examples * Added `communication_test.cpp` to evaluate network performance.
5ca631e
2018-08-08 17:53
下载
0.4.0
0.4.0 - 2018-06-21 Requires Panda system version >= 1.3.0 Motion and control interfaces * **BREAKING** Added rate limiting of commanded values as an option in the control loop and as a helper function. Rate limiting is activated by default, this could change the behavior of existing programs. Only works when filters (`franka::Robot::setFilters`) are deactivated. * Added `joint_move_in_wrong_direction` error to `franka::RobotState` * Added first and second derivatives of last commanded signals to `franka::RobotState` Library * Added `rate_limiting.h` to public interface * Removed unnecessary CMake script from installation
90461ec
2018-06-25 23:22
下载
0.3.0
0.3.0 - 2018-02-22 Requires Panda system version >= 1.2.0 Motion and control interfaces * Added optional `epsilon` parameters to `franka::Gripper::grasp` Examples * Set default collision behavior, impedances, and filter frequencies * Removed command line parameters to simplify usage * Fixed locking bug in `joint_impedance_control` Library * **BREAKING** Changed signatures and added overloads in `franka::Model` * Added additional variables to installed CMake config * Updated `SOVERSION` to include minor version number * Added conflict with `ros-kinetic-libfranka` to Debian packaging * Minor fixes and improvements for API documentation * Fixed build errors on Clang 5.0 * Fixed test errors for Poco >= 1.8.0
7b12bd5
2018-02-22 22:14
下载
0.2.0
0.2.0 - 2018-01-29 Requires Panda system version >= 1.1.0 * Improved external torque tracking behavior. * Fixed discontinuities in commanding orientation changes via the cartesian pose interface. * Added `joint_p2p_insufficient_torque_for_planning`, `tau_j_range_violation`, and `instability_detected` errors to `franka::RobotState` * Added `tau_J_d`, `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal`, `I_total`, `theta` and `dtheta` to `franka::RobotState` * Added `setFilter` command to `franka::Robot` * Added support for commanding elbow positions for Cartesian motions. * Added stiffness frame `K` to `franka::Model` * **BREAKING** Replaced `p_min` and `p_max` of `franka::VirtualWallCuboid` with `object_world_size` * **WARNING** Not all robot errors can be recovered using the guiding button on the robot anymore. To manually recover from such errors, please use the the Franka DESK web interface. * Added logs to `ControlException` and improved exception messages. * Fail earlier (by throwing exception) if any of the commanded values are `NaN` or `infinity`. * Added saturation to joint velocity, joint position, and joint impedance examples. * Changed examples to read initial states inside control loops (after controller switching). * Examples first move to an initial joint position. * Added new cartesian impedance and force control examples. * Lowered grasping force in `grasp_object` example * **BREAKING** New build-time dependency on Eigen3. * Changed thread priority to the maximum allowed value. * Prepare for the removal of the socket-init in the default constructor in POCO releases >= 1.8.0. * Removed unnecessary public dependencies for libfranka. * CI: Run linter on examples * Docu: Use SVG instead of MathML for math rendering in API documentation to support Chrome.
b8a9c8d
2018-01-30 01:55
下载
0.1.0
0.1.0 - 2017-09-15 * Initial release
b24bae1
2017-09-16 04:26
下载
下载
请输入验证码，防止盗链导致资源被占用
取消
下载