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What’s new in MANUS Core 3.2.0

Bug Fixes

The naming scheme of the Thumb joints in the Ergonomics was changed in various places to better reflect the joints they are meant to represent. This includes data fields in the CSV output files, the ErgonomicsDataType enum in the SDK and the Thumb Ergonomic topics in ROS2.

In CSV files the following fields have been renamed:

  • The Thumb_PIP_Flex field is now the Thumb_MCP_Flex field
  • The Thumb_DIP_Flex field is now the Thumb_IP_Flex field For more information see Ergonomics.

In the SDK the ErgonomicsDataType enumerator was changed:

  • ErgonomicsDataType_LeftFingerThumbMCPSpread is now ErgonomicsDataType_LeftFingerThumbCMCSpread
  • ErgonomicsDataType_LeftFingerThumbMCPStretch is now ErgonomicsDataType_LeftFingerThumbCMCStretch
  • ErgonomicsDataType_LeftFingerThumbPIPStretch is now ErgonomicsDataType_LeftFingerThumbMCPStretch
  • ErgonomicsDataType_LeftFingerThumbDIPStretch is now ErgonomicsDataType_LeftFingerThumbIPStretch For a full reference, see ErgonomicsDataType.

The same is true for the Right Thumb.

Especially take note of the MCP as this label was previously used for the wrong joint and has therefore moved to the correct joint.

In ROS2 the following Manus Ergonomics messages were renamed:

  • The ThumbMCPSpread type is now the ThumbSpread type (bringing it in line with the other spread types)
  • The ThumbPIPStretch type is now the ThumbCMCStretch type
  • The ThumbDIPStretch type is now the ThumbIPStretch type For more information see ROS2.