Release/v2.1

[pzhu-flexiv]

COMPATIBILITY

• Flexiv software package v4.1 (for Flexiv Enlight series only)

ADD

• RobotActions struct to define robot actions data in joint and Cartesian space, with Robot::actions() to retrieve the current actions data per joint group
• SyncMotionMode enum for synchronous motion control
• Robot::Home() to move the robot to its home posture
• Robot::SendCartesianMotionForceMultiWaypoint() and the NrtCartesianMultiWaypointCmd struct for multi-waypoint Cartesian motion-force control
• Robot::digital_outputs() to read the current digital output ports
• IKParams and IKResult structs and Model::SolveConstrainedIK() in model.hpp
• ProductModel enum and kProductModelNames map in data.hpp
• ALL and EXT_AXIS entries added to the JointGroup enum
• RobotInfo::all_groups and RobotInfo::single_arm_groups maps
• friction_comp_scale input parameter to RtJointTorqueCmd
• utility::PrimitiveStateTrueForGroups() (with overload) and utility::IsSingleArmGroup()

CHANGE

• Replaced Fast DDS and its related dependencies with Zenoh as the underlying communication middleware
• Renamed Robot::Enable() to Robot::ServoOn() and OperationalStatus::NOT_ENABLED to NOT_SERVO_ON to be consistent with the UI
• Changed enabling_button_pressed() to enabling_device_on() and updated Robot::estop_released() to cover all connected enabling/e-stop devices
• Replaced RobotStates::tau_des with RobotActions::tau_d
• Updated the Model, Tool, Safety, and Gripper interfaces to support multiple joint groups
• Changed vectors in SafetyLimits to maps; changed Gripper::Init() input parameter from vector to scalar
• Added joint group input restrictions/checks to joint-space control functions and other Robot functions
• Replaced Robot::LockExternalAxes() and SyncWithPositioner() with new entries in PrimitiveArgs
• Changed Robot::primitive_states() to return only the joint groups that currently have a running primitive
• Removed the [groups] input parameter from Robot::Brake() (now applies to all groups)
• Removed Robot::groups() (info migrated to RobotInfo)
• RobotInfo updates: replaced model_name string with product_model enum; combined all DoF variants into a single DoF map; changed limits and nominal values to maps; removed has_FT_sensor
• Changed the accepted serial number format passed to the Robot constructor; removed the network_interface_whitelist parameter from the Robot constructor
• Removed Robot::RunAutoRecovery() — recovery is now only permitted during manual mode per new certification requirements
• Removed the length limit from Robot::ExecutePrimitive() and SetGlobalVariables(), and the file-size limit in FileIO
• Switched to nested namespace declarations; added inline to const maps
• Updated C++ and Python examples and unit tests (including robot-construction tests); updated README, docs, and llms.txt

FIX

• Fixed Windows support in install_zenoh.sh
• Fixed a dangling reference in the examples
• Fixed wait_primitive_transition() in AGENT_REFERENCE_primitives_only.py

[Copilot]

Pull request overview

Release v2.1 update of Flexiv RDK that migrates the communication middleware from Fast DDS to Zenoh and expands multi–joint-group support across APIs, examples, docs, and CI.

Changes:

• Replaces Fast DDS dependency install flow with Zenoh (new installer + CMake dependency updates).
• Adds/updates API surface for multi-group operation (e.g., joint-group maps in RobotInfo, new RobotActions, constrained IK, gripper/tool per-group APIs) and updates C++/Python examples accordingly.
• Refreshes CI to separate C++ and Python workflows, and updates tests/docs for new serial/model conventions and v2.1 versioning.

Reviewed changes

Copilot reviewed 76 out of 77 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
thirdparty/scripts/install_zenoh.sh	Adds Zenoh (zenoh-c + zenoh-cpp) dependency install script, including Windows Rust toolchain handling.
thirdparty/scripts/install_foonathan_memory.sh	Removes Fast DDS vendor dependency install script.
thirdparty/scripts/install_Fast-DDS.sh	Removes Fast DDS install script.
thirdparty/scripts/install_Fast-CDR.sh	Removes Fast CDR install script.
thirdparty/patches/fastdds_qnx802.patch	Removes QNX patch previously needed for Fast DDS.
thirdparty/build_and_install_dependencies.sh	Switches dependency build sequence to install Zenoh instead of Fast DDS stack.
test/test_timeliness_monitor.cpp	Updates test to use RobotInfo::single_arm_groups and ServoOn().
test/test_robot_constructor.py	Adds Python unit test covering offline robot construction/serial validation behavior.
test/test_robot_constructor.cpp	Adds C++ unit test covering offline robot construction/serial validation behavior.
test/test_repeated_instantiation.cpp	Updates example/test to ServoOn() and new serial format hint text.
test/test_loop_latency.cpp	Updates example/test to ServoOn() and new serial format hint text.
test/test_endurance.cpp	Updates endurance test for Home(), single-arm group constraints, and joint-group map usage.
test/test_dynamics_engine.cpp	Updates dynamics test to use JointGroup::ALL, Home(), and per-group Tool APIs.
test/CMakeLists.txt	Refactors test build (functional vs unit tests), adds GTest FetchContent, switches to C++20.
README.md	Updates badges, notes formatting, Windows runtime guidance, serial examples, and minimum CMake version.
llms.txt	Updates repository guidance for v2.1 API (groups from robot.info(), ServoOn(), wait helper pattern).
LICENSE	Updates third-party license list to reflect Zenoh instead of Fast DDS dependencies.
lib/libflexiv_rdk.x86_64-linux-gnu.a.sha256	Updates expected hash for released static library artifact.
lib/libflexiv_rdk.arm64-darwin.a.sha256	Updates expected hash for released static library artifact.
lib/libflexiv_rdk.aarch64-linux-gnu.a.sha256	Updates expected hash for released static library artifact.
lib/flexiv_rdk.win_amd64.lib.sha256	Updates expected hash for released static library artifact.
include/flexiv/rdk/work_coord.hpp	Switches to nested namespace declaration style.
include/flexiv/rdk/utility.hpp	Adds primitive-state wait helpers and single-arm group helper; switches to nested namespace declarations.
include/flexiv/rdk/tool.hpp	Updates Tool API to be joint-group aware (name/group, params/group, Switch(group, ...)).
include/flexiv/rdk/scheduler.hpp	Switches to nested namespace declaration style.
include/flexiv/rdk/safety.hpp	Migrates limits data to per-group maps and updates APIs to accept joint groups.
include/flexiv/rdk/model.hpp	Adds constrained IK structs/API, updates Update() naming, group-aware configuration score.
include/flexiv/rdk/mode.hpp	Makes mode-name map inline and updates doc references.
include/flexiv/rdk/maintenance.hpp	Switches to nested namespace declaration style and updates docs for group parameter.
include/flexiv/rdk/gripper.hpp	Makes gripper operations joint-group aware and returns per-group params/states.
include/flexiv/rdk/file_io.hpp	Removes file-size limit mentions and switches to nested namespace declaration style.
include/flexiv/rdk/device.hpp	Switches to nested namespace declaration style.
include/flexiv/rdk/data.hpp	Adds ProductModel, RobotActions, SyncMotionMode, new JointGroup entries, and various data-structure updates.
example/intermediate7_robot_dynamics.cpp	Updates dynamics example for Home(), JointGroup::ALL, and constrained IK API.
example/intermediate6_realtime_cartesian_motion_force_control.cpp	Updates example for Home(), ServoOn(), and group restrictions + primitive-state helper.
example/intermediate5_realtime_cartesian_pure_motion_control.cpp	Updates example for Home(), ServoOn(), group restrictions, and per-group nominal stiffness usage.
example/intermediate4_realtime_joint_floating.cpp	Updates example for Home() and ServoOn().
example/intermediate3_realtime_joint_torque_control.cpp	Updates example for Home() and ServoOn().
example/intermediate2_realtime_joint_impedance_control.cpp	Updates example for Home(), ServoOn(), group restrictions, and per-group nominal stiffness usage.
example/intermediate1_realtime_joint_position_control.cpp	Updates example for Home() and ServoOn().
example/CMakeLists.txt	Enables CMP0167 policy workaround; switches examples to C++20; updates example list after removals.
example/basics9_logging_behavior.cpp	Fixes example annotation name and updates serial hint.
example/basics8_global_variables.cpp	Fixes example annotation name; updates to ServoOn().
example/basics7_update_robot_tool.cpp	Fixes example annotation name; updates Tool APIs to be per-group and uses ServoOn().
example/basics7_auto_recovery.cpp	Removes auto-recovery tutorial example per certification/feature removal.
example/basics6_gripper_control.cpp	Updates gripper example to per-group APIs and separate device/tool names; uses ServoOn().
example/basics5_zero_force_torque_sensors.cpp	Updates primitive execution to single-arm groups and uses primitive-state helper; uses ServoOn().
example/basics4_plan_execution.cpp	Updates to ServoOn() and serial hint changes.
example/basics3_primitive_execution.cpp	Updates to Home() convenience wrapper, single-arm groups, and primitive-state helper; uses ServoOn().
example/basics2_clear_fault.cpp	Updates serial hint text.
example/basics1_display_robot_states.cpp	Updates to list groups via robot.info(), prints actions() and digital outputs, uses ServoOn().
example_py/utility.py	Adds primitive-state wait helper in Python and documents module usage pattern.
example_py/intermediate5_robot_dynamics.py	Updates for Home(), JointGroup.ALL, and constrained IK API.
example_py/intermediate4_non_realtime_cartesian_motion_force_control.py	Uses Home(), ServoOn(), single_arm_groups, and Python primitive-state helper.
example_py/intermediate3_non_realtime_cartesian_pure_motion_control.py	Uses Home(), ServoOn(), single_arm_groups, and Python primitive-state helper.
example_py/intermediate2_non_realtime_joint_impedance_control.py	Uses Home(), ServoOn(), group restrictions, and per-group nominal stiffness usage.
example_py/intermediate1_non_realtime_joint_position_control.py	Uses Home() and ServoOn().
example_py/basics8_global_variables.py	Fixes docstring filename and updates to ServoOn().
example_py/basics7_update_robot_tool.py	Fixes docstring filename; updates Tool APIs to per-group and uses ServoOn().
example_py/basics7_auto_recovery.py	Removes auto-recovery tutorial example per certification/feature removal.
example_py/basics6_gripper_control.py	Updates gripper example to per-group APIs and separate device/tool names; uses ServoOn().
example_py/basics5_zero_force_torque_sensors.py	Updates primitive execution to single-arm groups and uses Python primitive-state helper; uses ServoOn().
example_py/basics4_plan_execution.py	Updates to ServoOn() and serial hint changes.
example_py/basics3_primitive_execution.py	Uses Home() convenience wrapper, single-arm groups, improved primitive-state printing, and helper; uses ServoOn().
example_py/basics2_clear_fault.py	Updates serial hint text.
example_py/basics1_display_robot_states.py	Updates to list groups via robot.info(), prints actions() and digital outputs, uses ServoOn().
example_py/AGENT_REFERENCE_primitives_only.py	Updates agent reference to v2.1 group APIs, Home(), ServoOn(), and Python helper for transitions.
doc/Doxyfile.in	Bumps documentation version to 2.1.
CMakeLists.txt	Bumps project version to 2.1, swaps Fast DDS deps for Zenoh deps, enforces C++20, adds CMP0167 policy handling.
cmake/flexiv_rdk-config.cmake.in	Updates exported dependency list to Zenoh instead of Fast DDS.
.gitignore	Adds .venv ignore entry.
.github/workflows/shared_python_steps/action.yml	Adds shared composite action for Python checks (byte-compile + unit test).
.github/workflows/shared_cpp_steps/action.yml	Renames and extends shared C++ steps to run unit tests via ctest.
.github/workflows/cmake.yml	Removes monolithic CMake CI workflow in favor of split workflows.
.github/workflows/ci-python.yml	Adds dedicated Python CI workflow using shared steps across OS/Python matrix.
.github/workflows/ci-cpp.yml	Adds dedicated C++ CI workflow using shared steps across OS matrix.

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