flexiv_rdk

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Not sure if it is because the version text is not updated but the so file is correct 1.4 version, or the so file is just old one. Please investigate....

Valen-C12

[FEATURE] setJointStiffness()

9

**Is your feature request related to a problem? Please describe.** Would like to introduce some mechanical compliance during the joint control mode. **Describe the solution you'd like** Add a setJointStiffness()...

acf986

[BUG] getPrimitiveStates error no response from server

6

**Version information** - RDK: v0.10 - Robot software: v2.10.9 - OS: Ubuntu 20.04 **Describe the bug** Unlike in the previously reported issue [here](https://github.com/flexivrobotics/flexiv_rdk/issues/54), I am only calling getPrimitiveStates at 10Hz....

acf986

[BUG] Mating primitives not working

4

- RDK: 0.10 - Robot software: v2.10.9 - Rizon 10 The Mating primitives on our RIzon 10 AND Rizon 4s don't work even with the good parameters. We tried the...

JoeProg-ets

[FEATURE] Add self-examination and calibration routines to RDK

3

**Is your feature request related to a problem? Please describe.** It would be helpful to have the ability to trigger self-examination and calibration routines remotely, without using the UI. **Describe...

yellownebula10

[FEATURE] Get/Set WorkCoord(工件坐标系) via RDK

3

**Is your feature request related to a problem? Please describe.** 使用element ui 设定比如moveL的目标点的时候，可以选定变量作为坐标系，但示教只能选世界/法兰/工具坐标系。   **Describe the solution you'd like** rdk能够更新工具坐标系，或者示教可以选择COORD变量作为坐标系 **Additional context** 场景是机械臂是在移动平台上的，每次到位后机械臂和操作工件可能会有几厘米误差，所以需要校准。校准好后把工件坐标系通过rdk更新到机械臂，目前只能写入到全局变量中。 因为拖拽示教只能基于工件坐标系不能基于全局变量，所以录制动作/plan的时候都得先校准一遍，然后人手动在element里把全局变量中的坐标更新到工件坐标系里，然后基于工件坐标系录动作，体验很不好。

Valen-C12

[BUG] URDF difference of 4 centimeters for Rizon4

7

**Version information** - RDK: v 1.4 - Robot software: 3.6 - OS: Ubuntu 22.04 **Describe the bug** There are two issues: 1. In [this commit](https://github.com/flexivrobotics/flexiv_rdk/commit/90dfff1e2c7a35aa3266ed62837864f6c3714892), the Rizon4 URDF (`flexiv_rizon4_kinematics.urdf`) changed...

peteflorence

[FEATURE] Set arbitrary force control direction

3

**Is your feature request related to a problem? Please describe.** Currently the `SetForceControlAxis` and `SetForceControlFrame` functions can only set the force control direction aligned with the x/y/z axis of the...

acf986

[FEATURE] Could robot.operational() return an error code instead of a simple boolean for error handling

3

**Is your feature request related to a problem? Please describe.** When using reobot.operational(), I only have logs to inform me on why the robot is not operational. I cannot use...

skyrimax

[FEATURE] Catch exception by type in pyhton

6

**Is your feature request related to a problem? Please describe.** I cannot catch exceptions by type in python, python's generic RuntimeError is thrown instead. **Describe the solution you'd like** I...

skyrimax