Downloads
APIs
API | Downloads | Links |
---|---|---|
(R2013b or higher) |
||
Windows (Win32 / Win64) |
||
Windows (Win32 / Win64) |
2. .tar.gz file preserves symlinks for macOS/Linux shared libraries
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Linux (x86-64) |
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C Windows (Win32 / Win64) Note - this API is designed for ease wrapping in higher level languages rather than direct use |
3. .tar.gz file preserves symlinks for macOS/Linux shared libraries
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Datasheets and CAD
Below is a list of HEBI component manuals, datasheets, drawings, CAD models, and other useful links that can be useful when using the HEBI Robotics Platform.
Additional drawings and CAD models can be found on our public Github CAD repository.
Actuators
Part Numbers | Description | Links |
---|---|---|
A-2200-08-03 |
R8-Series Actuators |
|
A-2475-05-01 A-2475-08-03 |
T5/8-Series Actuators |
|
A-2488-25-XX |
H-Series Actuators |
|
A-2438-02 |
Track Actuator |
Other Products
Part Numbers | Description | Links |
---|---|---|
A-2432-01 |
I/O Board |
|
A-2463-01 A-2473-01 A-2525-01 |
Wattman Battery Battery Cap Wattman Battery w/ Cap |
|
A-2530-01 A-2530-02 |
HEBI Inspection Camera HEBI Inspection Camera |
Older Products
Part Numbers | Description | Links |
---|---|---|
A-2020-05-01 A-2020-08-03 |
X5/8-Series Actuators |
|
A-2116-01 |
I/O Board |
|
A-2309-01 A-2328-01 |
MAPS Arm 1-DoF Passive Base |
Changelogs
Scope GUI Changelog
Scope 1.x
Version | Changes |
---|---|
1.13.0 |
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1.12.0 |
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1.11.0 |
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1.10.0 |
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1.9.0 |
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1.8.0 |
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1.7.4 |
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1.7.3 |
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1.7.2 |
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1.7.1 |
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1.7.0 |
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1.6.4 |
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1.6.3 |
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1.6.2 |
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1.6.1 |
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1.6 |
Note: This update did a major upgrade to many libraries and fixed a lot of the performance issues on Linux. Unfortunately, it also introduced a few new issues, so we currently do not recommend using it for Windows or macOS.
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1.5 |
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1.4 |
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1.3 |
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1.2 |
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1.1 |
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1.0 |
Major design overhaul |
RC 0.13
Revision | Changes |
---|---|
2539 |
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RC 0.12
Revision | Changes |
---|---|
2479 |
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RC 0.11
Revision | Changes |
---|---|
2445 |
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RC 0.10
Revision | Changes |
---|---|
2185 |
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RC 0.9
Revision | Changes |
---|---|
2180 |
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RC 0.8
Revision | Changes |
---|---|
2148 |
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RC 0.7
Revision | Changes |
---|---|
2121 |
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RC 0.6
Revision | Changes |
---|---|
1908 |
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RC 0.5
Revision | Changes |
---|---|
1799 |
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RC 0.4
Revision | Changes | Bugfixes |
---|---|---|
1628 |
Added selector for M-Stop strategy |
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1515 |
|
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1439 |
|
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RC 0.3
Revision | Changes | Bugfixes |
---|---|---|
1327 |
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MATLAB API Changelog
After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI.
Release 2.x
This release contains some minor breaking changes highlighted in bold below, so the main version number was bumped to v2. However, most projects will not need to change anything when upgrading from v1 to v2.
Revision | Changes |
---|---|
2.1 |
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2.0 |
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Release 1.8.x
Revision | Changes |
---|---|
1.8.0 |
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Release 1.7.x
Revision | Changes |
---|---|
1.7.5 |
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1.7.4 |
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1.7.3 |
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1.7.2 |
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1.7.1 |
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1.7 |
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Release 1.6.x
Revision | Changes |
---|---|
1.6.2 |
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1.6.1 |
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1.6 |
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Release 1.5.x
Revision | Changes |
---|---|
1.5.1 |
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1.5 |
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Release 1.4.x
Revision | Changes |
---|---|
1.4.3 (2457) |
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1.4.2 (2455) |
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1.4.1 (2452) |
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1.4 (2443) |
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Release 1.3
Revision | Changes |
---|---|
2169 |
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Release 1.2
Revision | Changes |
---|---|
2085 |
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Release 1.1
Revision | Changes |
---|---|
2009 |
|
Release 1.0
Revision | Changes |
---|---|
1908 |
|
Before Release 1.0, changes that break backwards compatibility are highlighted in bold.
RC 1.0
Revision | Changes |
---|---|
1859 |
|
1820 |
|
RC 0.7
Revision | Changes |
---|---|
1741 |
|
1732 |
|
1723 |
|
1709 |
|
1702 |
|
1700 |
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RC 0.6
Revision | Changes |
---|---|
1628 |
|
RC 0.5
Revision | Changes |
---|---|
1434 |
|
1424 |
|
RC 0.4
Revision | Changes |
---|---|
1371 |
|
1356 |
|
1328 |
|
1324 |
|
1289 |
|
1270 |
|
RC 0.3
Revision | Changes |
---|---|
1263 |
|
1241 |
|
1234 |
|
1229 |
|
1223 |
|
1218 |
|
1214 |
|
Python API Changelog
Changes that break backwards compatibility are highlighted in bold.
2.7.9
Features | Changes/Fixes |
---|---|
|
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2.7.8
Features | Changes/Fixes |
---|---|
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2.7.6
Features | Changes/Fixes |
---|---|
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2.7.5
Features | Changes/Fixes |
---|---|
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2.7.4
Features | Changes/Fixes |
---|---|
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2.7.3
Features | Changes/Fixes |
---|---|
|
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2.7.2
Features | Changes/Fixes |
---|---|
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2.7.1
Features | Changes/Fixes |
---|---|
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2.6.1
Features | Changes/Fixes |
---|---|
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2.6.0
Features | Changes/Fixes |
---|---|
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2.4.0
Features | Changes/Fixes |
---|---|
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2.3.0
Features | Changes/Fixes |
---|---|
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2.2.0
Features | Changes/Fixes |
---|---|
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2.1.0
Features | Changes/Fixes |
---|---|
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2.0.0
Features | Changes/Fixes |
---|---|
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1.0.2
Features | Changes/Fixes |
---|---|
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1.0.1
Features | Changes/Fixes |
---|---|
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1.0.0
Features | Changes/Fixes |
---|---|
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0.99.2
Features | Changes/Fixes |
---|---|
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0.99.0
Features | Changes/Fixes |
---|---|
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0.98.2
Features | Changes/Fixes |
---|---|
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0.98.1
Features | Changes/Fixes |
---|---|
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0.98.0
Features | Changes/Fixes |
---|---|
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0.96.2
Features | Changes/Fixes |
---|---|
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0.95
Features | Changes/Fixes |
---|---|
|
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ROS API Changelog
The changelog for the ROS API is maintained at: https://github.com/HebiRobotics/HEBI-ROS/releases
CPP API Changelog
After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI. Changes that break backwards compatibility on major version releases (or experimental features or pre-v1.0 versions) are highlighted in bold.
3.11.1
Features | Changes/Fixes |
---|---|
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3.11.0
Features | Changes/Fixes |
---|---|
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3.10.1
Features | Changes/Fixes |
---|---|
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3.10.0
Features | Changes/Fixes |
---|---|
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3.9.0
Features | Changes/Fixes |
---|---|
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3.8.0
Features | Changes/Fixes |
---|---|
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3.7.0
Features | Changes/Fixes |
---|---|
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3.6.0
Features | Changes/Fixes |
---|---|
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3.5.1
Features | Changes/Fixes |
---|---|
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3.5.0
Features | Changes/Fixes |
---|---|
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3.4.0
Features | Changes/Fixes |
---|---|
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3.3.0
Features | Changes/Fixes |
---|---|
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3.2.0
Features | Changes/Fixes |
---|---|
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3.1.1
Features | Changes/Fixes |
---|---|
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3.1.0
Features | Changes/Fixes |
---|---|
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3.0.0
Features | Changes/Fixes |
---|---|
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Conversion guide from 2.x to 3.1+:
"Combine" removal:
-
addJoint
andaddRigidBody
no longer acceptcombine
parameters; the behavior defaults tocombine = false
now. If you usedcombine = true
, your logic needs to be adjusted to ignore the additional frame.
Enum changes:
-
ActuatorType
,LinkType
, andBracketType
changed from nested enums inhebi::robot_model::RobotModel
to enums in namespacehebi::robot_model
.-
Old code will compile, but will have "deprecated" compiler warnings until updated
-
-
RobotModel
functionsgetFrameCount
,getForwardKinematics
,getFK
,getJacobians
, andgetJ
now all usehebi::robot_model::FrameType
C++ enum instead ofHebiFrameType
C enum-
Old code will compile, but will have "deprecated" compiler warnings until updated
-
-
RobotModel
functionsaddJoint
changes fromHebiJointType
tohebi::robot_model::JointType
-
Old code will compile, but will have "deprecated" compiler warnings until updated
-
-
Any function calls to
MetadataBase::elementType()
changed return fromHebiRobotModelElementType
tohebi::robot_model::ElementType
. -
Return type of
<Actuator/Bracket/Joint/Link>Metadata::<actuator/bracket/joint/link>Type()
changed fromHebi<Actuator/Bracket/Joint/Link>Type
tohebi::robot_model::<Actuator/Bracket/Joint/Link>Type
Change in acceptable robot model configurations:
-
There are only certain configuration allowed when adding robot model elements together. For example, an X5 actuator cannot be added directly onto an X5 actuator, as this isn’t physically possible.
-
Compatible types are based on physical parts that would connect. This is documented in the HRDF specification: https://github.com/HebiRobotics/hebi-hrdf/blob/master/FORMAT.md#connecting-robot-model-elements
-
To workaround this, one can add a single rigid body between the incompatible elements. This adds a frame and body with mass, but the transform is identity and mass is zero so this does not change the relative transforms. If this workaround is used, code will need to add an offset when retrieving later frames in the chain.
End effector behavior:
-
End effectors have become first-class robot model elements that can be explicitly added to the end of robot model chains.
-
By default, there is no "end effector" added to robot model objects, which means "GetFrames(FrameType::EndEffector)" will return an empty vector unless an end effector is explicitly added.
-
For previous code calling
GetFrames(HebiFrameTypeEndEffector)
on a robot model created via callingRobotModel::add*
, you should now add callRobotModel::addEndEffector(EndEffectorType::Custom)
after adding other robot model elements to your robot. Note that this will also add anOutput
frame to the return ofGetFrames(FrameType::Output)
, so be sure to adjust any code explicitly counting on the number of output frames. -
For code importing an HRDF of version < 1.2.0, this end effector is automatically added to attempt to ease transitions
-
For code importing an HRDF of version >= 1.2.0, no end effector is added unless it is explicitly listed in the HRDF.
2.2.0
Features | Changes/Fixes |
---|---|
|
|
2.1.0
Features | Changes/Fixes |
---|---|
|
|
2.0.1
Features | Changes/Fixes |
---|---|
|
2.0.0
Features | Changes/Fixes |
---|---|
|
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1.1.0
Features | Changes/Fixes |
---|---|
|
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1.0.0
Features | Changes/Fixes |
---|---|
|
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0.16.0
Features | Changes/Fixes |
---|---|
|
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0.15.0
Features | Changes/Fixes |
---|---|
|
|
C API Changelog
After v1.0 release, major version number changes indicate backwards incompatible changes, while minor version number changes are backwards compatible, both in API and ABI. Before v1.0, changes that break backwards compatibility are highlighted in bold.
2.16.1
Features | Changes/Fixes |
---|---|
|
2.16.0
Features | Changes/Fixes |
---|---|
|
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2.15.0
Features | Changes/Fixes |
---|---|
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2.14.0
Features | Changes/Fixes |
---|---|
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2.13.0
Features | Changes/Fixes |
---|---|
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2.12.0
Features | Changes/Fixes |
---|---|
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2.11.1
Features | Changes/Fixes |
---|---|
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2.11.0
Features | Changes/Fixes |
---|---|
|
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2.10.1
Features | Changes/Fixes |
---|---|
|
2.10.0
Features | Changes/Fixes |
---|---|
|
2.9.0
Features | Changes/Fixes |
---|---|
|
2.8.0
Features | Changes/Fixes |
---|---|
|
2.7.1
Features | Changes/Fixes |
---|---|
|
2.7.0
Features | Changes/Fixes |
---|---|
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2.6.0
Features | Changes/Fixes |
---|---|
|
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2.5.0
Features | Changes/Fixes |
---|---|
|
2.4.0
Features | Changes/Fixes |
---|---|
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2.3.1
Features | Changes/Fixes |
---|---|
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2.3.0
Features | Changes/Fixes |
---|---|
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2.2.0
Features | Changes/Fixes |
---|---|
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2.1.0
Features | Changes/Fixes |
---|---|
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2.0.0
Features | Changes/Fixes |
---|---|
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1.8.0
Features | Changes/Fixes |
---|---|
|
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1.7.0
Features | Changes/Fixes |
---|---|
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1.6.0
Features | Changes/Fixes |
---|---|
|
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1.5.0
Features | Changes/Fixes |
---|---|
|
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1.4.2
Features | Changes/Fixes |
---|---|
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1.4.1
Features | Changes/Fixes |
---|---|
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1.4.0
Features | Changes/Fixes |
---|---|
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1.3.0
Features | Changes/Fixes |
---|---|
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1.2.0
Features | Changes/Fixes |
---|---|
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1.1.0
Features | Changes/Fixes |
---|---|
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1.0.1
Features | Changes/Fixes |
---|---|
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1.0.0
Features | Changes/Fixes |
---|---|
|
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1.0-rc6
Features | Changes/Fixes |
---|---|
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1.0-rc5
Features | Changes/Fixes |
---|---|
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|
1.0-rc1 through 1.0-rc4
Features | Changes/Fixes |
---|---|
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0.16
Features | Changes/Fixes |
---|---|
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0.15
Features | Changes/Fixes |
---|---|
|
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0.14
Features | Changes/Fixes |
---|---|
|
|
Firmware Changelog
T25
Release | Changes | Bugfixes |
---|---|---|
1.0.0 |
|
H
Release | Changes | Bugfixes |
---|---|---|
1.0.0 |
|
R8, R8+, T5/8, and T5/8+ (A and B)
Release | Changes | Bugfixes |
---|---|---|
15.10.0 |
|
|
15.9.0 |
|
|
15.8.0 |
|
X5_8 (C, D, E, F, G, I, and K); R8 (A and B)
Release | Changes | Bugfixes |
---|---|---|
15.7.4 (X5_8 K and R8 B only) |
|
|
15.7.3 (X5_8 K and R8 B only) |
|
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15.7.2 (X5_8 K and R8 B only) |
|
|
15.7.1 (X5_8 K and R8 B only) |
|
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15.7.0 (X5_8 K and R8 B only) |
|
|
15.6.1 |
|
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15.6.0 |
|
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15.5.0 |
|
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15.4.0 |
|
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15.3.0 |
|
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15.2.0 |
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15.1.3 |
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15.1.2 |
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15.1.1 |
|
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15.1.0 |
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15.0.0 |
|
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14.1112.1092 |
|
|
13.1091.1083 (C-F) 13.1097.1092 (G) |
|
|
12.1085.1083 |
|
|
11.944.913 |
|
|
10.888.885 |
|
|
9.811.807 (C/D) 9.834.830 (E) |
|
|
8.795.793 |
|
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7.785.769 |
|
|
6.775.769 |
|
|
5.772.769 |
|
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4.0 rev629 (D only) |
|
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3.1 rev617 (D only) |
|
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3.0 rev629 (C) 3.0 rev606 (D) |
|
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2.0 rev519 |
|
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1.0 rev480 |
|
MD (Motor Driver) C
Release | Changes | Bugfixes |
---|---|---|
1.0.0 |
|
|
0.4.0 |
|
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0.3.0 |
|
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0.2.0 |
|
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0.1.0 |
|
IO_ENCODER
Release | Changes | Bugfixes |
---|---|---|
0.3.0 |
|
|
0.2.0 |
|
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0.1.0 |
|
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0.0.0 |
|
IO_MICRO (B, D)
Release | Changes | Bugfixes |
---|---|---|
1.2.0 |
|
|
1.1.0 |
|
|
1.0.0 |
|
MAPS
Release | Changes | Bugfixes |
---|---|---|
1.0.0 |
|
S5_B
Release | Changes | Bugfixes |
---|---|---|
1.740.737 |
|
S_CAM_A
Release | Changes | Bugfixes |
---|---|---|
2.745.737 |
|
|
1.743.737 |
|
SEA_D
Release | Changes | Bugfixes |
---|---|---|
2.711.704 |
|
|
IO_BASIC_C
Release | Changes | Bugfixes |
---|---|---|
2 |
|
|
1 |
|
IO_BASIC_B
Release | Changes | Bugfixes |
---|---|---|
2 |
|
|
1.0 rev552 |
|
Bootloader
Release | Changes | Bugfixes |
---|---|---|
10.1079.1076 |
|
|
8.832.830 |
|
|
7.810.807 |
|
|
6.0.735.733 |
|
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5.0 rev599 |
|
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4.0 rev548 |
|
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3.0 rev514 |
|
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2.0 rev478 |
|
|
1.0 rev345 |
|