v1.1

COMPATIBILITY

• Flexiv software package v3.10

ADD

• Add support for Linux aarch64 platform.
• Add new dependencies: assimp, boost, coal, console_bridge, urdfdom.
• Add new API SelfCollisionMonitor with examples.
• Add RobotPair::SyncWithPositioner().
• Add RobotPair::StopPlan().
• Add RobotPair::StreamJointTorque().
• Add RobotPair::StreamJointPosition().
• Add RobotPair::SetMaxContactTorque().
• Add RobotPair::SetJointInertiaScale().
• Add RobotPair::StreamCartesianMotionForce().
• Add input param velocities to RobotPair::SendCartesianMotionForce().
• Add build type MinSizeRel.

CHANGE

• Remove input param accelerations from RobotPair::SendJointPosition().
• Set CMake minimum required version to 3.22.0.
• Migrate static libraries to release assets and download during CMake configuration. Add sha256 files for integrity check after download.
• Use dummy src to add portability to installed flexiv_drdk library.
• Update LICENSE.
• Remove automatic triggering of GitHub actions

FIX

None

v1.0

COMPATIBILITY

• Flexiv software package v3.9

ADD

• Add CMake infra.
• Add new API drdk::RobotPair to simultaneously control a pair of robots.
• Add new API drdk::GripperPair to simultaneously control a pair of grippers.
• Add new API drdk::BimanualPrimitives as the interface to execute primitives designed for bimanual manipulation.
• Add GitHub workflow.
• Add issue templates.
• Add Doxyfile.in
• Add basic C++ and Python examples.
• Add C++ library for Ubuntu x86_64 platform.
• Add scripts for building dependencies.

CHANGE

• Update README with instructions.

FIX

None