GL013303(v1.33.3)

Modify Version Information: GL013303

Update Features (DRFLEx.h)

• Added default parameter values for _ikin_ex and _ikin_add_iter_threshold
• Added _set_stiffnessx_v3 and _set_desired_force_v3 internal API functions for DRCF v3
• set_stiffnessx and set_desired_force now dispatch to v2 or v3 implementations based on DRCF_VERSION preprocessor flag

Updated Sample

5_minimal_instruction_sample.cpp

• Translated Korean comments to English
• Fixed deadlock in OnMonitoringStateCB by moving state recovery to main thread
• Added retry logic for control authority acquisition
• Added robust servo-on with state recovery and timeout
• Added ikin_norm usage example and current pose readout

Other Changes

• Removed obsolete main.cpp

GL013302(v1.33.2)

Modify Version Information: GL013302

Update Features

• Merged DRFL.h and DRFLEx.h into a unified header.
• Legacy CamelCase APIs in DRFL.h are planned to be deprecated.
  → Use the unified snake_case APIs for new development.

Updated Functions

Added Hold-to-Run Functions

• hold2run
• jog_h2r
• movej_h2r
• movel_h2r

Added Ethernet Register Functions

Output Registers

• set_output_register_bit
• set_output_register_int
• set_output_register_float
• get_output_register_bit
• get_output_register_int
• get_output_register_float

Input Registers

• get_input_register_bit
• get_input_register_int
• get_input_register_float

GL013301(v1.33.1)

GL013301(v1.33.1)

What's Changed

• update README.md by @song-ms in #46
• Update GL013100 by @song-ms in #52
• Update example file for GL013100 and later by @song-ms in #53
• update README by @song-ms in #55
• GL013201 by @song-ms in #58
• Add sample code by @leeminju531 in #62
• Add sample code by @leeminju531 in #63
• Update GL013300 by @song-ms in #65
• Update to GL013301 by @dr-minsoo-song in #69

New Contributors

• @leeminju531 made their first contribution in #62
• @dr-minsoo-song made their first contribution in #69

Full Changelog: https://github.com/DoosanRobotics/API-DRFL/commits/GL013301(v1.33.1)