v2.1.1

Change log in v2.1.1 †

SIGServer †

• Class for wheel-based mobile robot is added to RobotObj. Mobile robot control is available even in dynamics off mode. The following APIs are for the mobile robot control.
• setWheel
  • first arg: radius of whell
  • second arg: distance between right/left wheel
• setWheelVelocity
  • Set angular velocity of wheels (rad/s)　

• getRobotObj is added to Controller class

• Type "Robot" should be specified for Robot object in world file, such as:

   <instanciate class="WheelRobot-nii-v1.xml" type="Robot">

• setJointVelocity is available in dynamics off mode. (Max of torque is unavailable)
• getAllJointAngles is added to SimObj class
• graspObj,releaseObj is added to CPars class
• Modification on wheel robot parts
• Optimization of data transport between controller and server

SIGViewer †

• Bugs on service add, remove is cleared.
• Error "connection refused : no type" in connecting with SIGServer with portforwarding is cleared.

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