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
- 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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