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2.0.0
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@adeguet1 adeguet1 released this 07 Apr 20:00
2.0.0
bb103e8

2.0.0 (2021-04-08)

  • API changes:
    • mtsPID: use CRTK naming convention
    • mtsPID: IO level needs to provide prmStateJoint instead of separate position/velocity/effort
  • Deprecated features:
    • Removed mtsTeleoperation, use sawIntuitiveResearchKit mtsTeleopPSM instead
  • New features:
    • mtsPID: added feed forward for arms with gravity compensation
    • mtsPID: support prmConfigurationJoint
  • Bug fixes:
    • mtsPID: better velocity estimation when in simulation mode
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