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@pzhu-flexiv pzhu-flexiv released this 29 Oct 17:25
· 3 commits to main since this release
v1.3
56d5582
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Learn about vigilant mode.

COMPATIBILITY

  • NVIDIA Isaac Sim v4.5 and v5.0.
  • Flexiv Elements Studio v3.10.
  • Flexiv Sim Plugin v1.2.

ADD

  • Add compatibility check on flexivsimplugin package in flexiv_isaac_bridge_app.py.
  • Allow specifying orientation of the robot base to flexiv_isaac_bridge_app.py.
  • Add app_config.yaml for flexiv_isaac_bridge_app.py to parse configurations from.
  • Add optional cameras to flexiv_isaac_bridge_app.py.

CHANGE

  • Apply target torques only when WaitForRobotCommands() returns successful.
  • Rename class Flexiv to FlexivSerial.
  • Replace hard-coded DoF with input parameter arm_dof in FlexivSerial class.
  • Combine gripper-related input parameters of FlexivSerial class into one instantiated Gripper instance.
  • Move the call to add_reference_to_stage() from FlexivSerial class to flexiv_isaac_bridge_app.py.
  • In FlexivSerial class, initialize gripper according to the actual instance type.
  • In FlexivSerial class, replace np.ndarray types with List[float].
  • Set GUI resolution of Isaac Sim to 1080p.

FIX

  • In flexiv_isaac_bridge_app.py, fix control mode switch upon reset and disconnection.
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