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CHANGELOG.md

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Change Logs

  • 2024-10-8:

    • Repository migration:
      • Removed README.md and demo files from the old repository.
      • Updated the README.md. Added migration notification.

  • 2024-8-14

    • Demo updates:
      • Added a new demo demo_move_hand to demonstrate how to control the dexterous hand.

  • 2024-8-08

    • README updates:
      • Remove the guide for new demo development.

  • 2024-8-07

    • README updates:
      • Updated the REAME.md. Adding guide for new demo development.

  • 2024-7-19

    • Permission setup:
      • Adding instructions about how to set permission for joysticks and IMU(HIPNUC IMU)

  • 2024-7-17

    • Calibration step updates:
      • Adding more detailed calibration step including physical calibration step.
    • Demo updates:
      • Adding Gif to show the result from demo_nohla_rl_walk and demo_nohla_stand.

  • 2024-07-16

    • New setup version is coming:
      • The whl files have been removed, and the control system now uses the fourier-grx library. The fourier-grx library can be downloaded with pip install fourier-grx. All the control system dependencies have been updated to align with the fourier-grx library.
    • README updated:
      • The README has been updated with new instructions on installing the fourier-grx library and using it.
    • New Demo:
      • A demo using reinforcement learning to walk and stand has been provided. They are demo_nohla_rl_walk and demo_nohla_stand, respectively.

  • 2024-7-01

    • README updates:
      • Updated the install link for the new .whl file.
      • fixed error in description of enable and disable function in robot_client
      • Fix description about list_frame and get_transform function
    • New whl file:
      • robot_rcs has been updated to version robot_rcs-0.4.0.11
      • robot_rcs_gr has been updated to version robot_rcs_gr-1.9.1.10
    • Config file updates:
      • Released a new version of the config file, targeting the new robot_rcs and robot_rcs_gr packages. Changes were made to T2 config files.

  • 2024-6-28

    • README updates:

      • Added firewall setup instructions, including a sample result to check whether the firewall setup is correct.
      • Updated the install link for the new .whl file.
      • Provided more details about using different sample config files.
      • Added instructions for the new demo, demo_set_home, to clarify the calibration process for the absolute encoder.
      • Fixed small mistakes

    • Config file updates:

      • Released a new version of the config file, targeting the new robot_rcs and robot_rcs_gr packages. Changes were made to both T1 and T2 config files.

    • New Demo file: demo_set_home.py:

      • Simplified and clarified the set_home function in the client part to make the calibration process clearer and simpler.

    • New whl file:

      • robot_rcs has been updated to version robot_rcs-0.4.0.10
      • robot_rcs_gr has been updated to version robot_rcs_gr-1.9.1.8

  • 2024-6-27

    • README updates:

      • Updated the install link for the new .whl file.
      • Added instructions for two functions updated in the robot client: list_frame and get_transformation.
      • robot_client changed name to demo_robot_client.py

    • Robot server updates:

      • Added a new function: visualization. When set to True (default), users can check the URDF online from the link shown in the terminal.

    • New function added into robot client:

      • list_frame: List all the links and joints from the robot URDF.
      • get_transformation: Get the transformation from one link to another.

    • New whl file:

      • robot_rcs has been updated to version robot_rcs-0.4.0.9
      • robot_rcs_gr has been updated to version robot_rcs_gr-1.9.1.7

    • URDF file added

      • Added both GR1T1 and GR1T2 URDF files into folders for the new server and client. Users can visualize the URDF with the run_server.py function.
      • Added mesh files for GR1T1 and GR1T2 in STL format.

    • New demo file: demo_print_joints.py:

      • Prints out joint positions and joint information.

  • 2024-6-24

    • README updates:

      • Added instructions for the updated functions in the robot client: set_gains.
      • Provided more details for running demos, including opening a second terminal before running the robot client after starting the server.

    • New function added into robot client:

      • set_gains: Set the PD parameters for the motors.

  • 2024-6-22

    • README updates:
      • Mentioned the sequential significance of installing the .whl file.
    • Robot server updates:
      • Fixed server bugs.
    • Config updates:
      • Fixed sample config bugs.

  • 2024-6-21

    • Working space created:
      • Created the zenoh folder.
    • Robot server updates:
      • Changed mode to arg.parse mode