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Release/v2.1 - #194

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pzhu-flexiv merged 94 commits into

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release/v2.1

Jun 27, 2026

Commits on May 5, 2026
- Update README
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  bb80d11
- Remove fast-dds and related dependencies, replace with zenoh
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- Bump project version
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- Update license notice
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- Add inline to const maps
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- Add input parameter friction_comp_scale to RtJointTorqueCmd
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- Add NrtCartesianMultiWaypointCmd struct
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- Add Robot::SendCartesianMotionForceMultiWaypoint()
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- Remove parameter network_interface_whitelist from Robot constructor
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- Update libflexiv_rdk.x86_64-linux-gnu.a.sha256
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- Update libflexiv_rdk.aarch64-linux-gnu.a.sha256
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- Print reset values in examples
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Commits on May 20, 2026
- Add ProductModel enum and kProductModelNames map to data.hpp
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- Add ALL and EXT_AXIS to JointGroup
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  b62e12d
- Replace RobotInfo::model_name string with product_model enum
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- Add RobotInfo::all_groups map and single_arm_groups map
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- Combine all DoF variants in RobotInfo to a single DoF map
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- Remove RobotInfo::has_FT_sensor
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- Change limits and nominal values in RobotInfo to maps
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- Update doc
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- Remove size limit on file transfer in FileIO
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- Remove length limit from Robot::ExecutePrimitive() and SetGlobalVariables()
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  7f39c26
- Update the Gripper interface to support multiple joint groups
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  d145c38
- Update the Safety interface to support multiple joint groups
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- Change vectors in SafetyLimits struct to maps
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- Update the Tool interface to support multiple joint groups
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- Add IKParams and IKResult structs to model.hpp. Replace Model::reachable() with SolveConstrainedIK()
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- Update the Model interface to support multiple joint groups
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  c785c77
- Change accepted serial number format passed to Robot constructor
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- Remove Robot::groups(), info migrated to RobotInfo
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- Add Robot::Home()
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  4bda99c
- Remove [groups] input parameter from Robot::Brake(), the function applies to all groups
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  391e0fe
- Change Robot::primitive_states() to return for only the joint groups that currently have a running primitive
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  759f24a
- Add valid joint group check to Robot functions
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- Add Robot::digital_outputs()
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  a2aa00a
- Add utility::IsSingleArmGroup()
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- Add utility::PrimitiveStateTrueForGroups()
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  aa26d41
- Use nested namespace
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  29e294d
- Update libflexiv_rdk.x86_64-linux-gnu.a.sha256
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Commits on May 21, 2026
- Update examples and tests
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Commits on May 22, 2026
- Add joint group checks
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  e0fcdd6
- Change input parameter of Gripper::Init() from vector to scalar
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  33c23df
- Remove Robot::RunAutoRecovery(), only permitted to run recovery during manual mode per new certification requirements
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  36f05de
- Update utility::PrimitiveStateTrueForGroups, remove overload
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- Update sha256
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  f886830
- Overload utility::PrimitiveStateTrueForGroups
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  92428c3
- Remove auto recovery examples, update examples
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  ee7c2cc
- Set policy CMP0167
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  83c9151
- Fix wait_primitive_transition() in AGENT_REFERENCE_primitives_only.py
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  419d296
- Overload primitive_state_true_for_groups() in utility.py
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- Compile python examples in github workflows
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  c32c523
- Add new github workflow python.yml
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  ee7093b
- Rename shared_steps to shared_cpp_steps, rename cmake.yml to cpp.yml
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  d9b7815
- Rename cpp jobs
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- Add job names, update badge url
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- Update llms.txt
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Commits on May 27, 2026
- fix dangling reference in examples
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Commits on May 28, 2026
- Print digital outputs in basics1_display_robot_states examples
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- Remove setting LD_LIBRARY_PATH
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Commits on May 29, 2026
- Add unit tests for C++ and Python to test Robot construction
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Commits on Jun 18, 2026
Commits on Jun 19, 2026
- Update libflexiv_rdk.arm64-darwin.a.sha256
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- Update flexiv_rdk.win_amd64.lib.sha256
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  5cdcef0
- Fix Windows support in install_zenoh.sh
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  cb0307c
- Update C++ examples
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  c040079
- Update Python examples
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  0b1229e
- Update agent references
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  16b6d6d
- Replace Rizon with Enlight in examples
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  a62207c
- Update primitives url
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- Update README
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  f1f307a
- Update README
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- Update test programs
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  a6a7bee
- Update github workflow to use os matrix
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  37cbb17
- Update CI workflow names and restrict branches to main only
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- Revert to windows-2022
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- Add permissions section to CI workflows for consistency
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Commits on Jun 20, 2026
- Update CMakeLists.txt to set C++20 standard using target_compile_features
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Commits on Jun 21, 2026
- Enhance gripper control by adding a scope guard for the print thread to ensure proper signaling and joining on exit
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- Fix gripper control examples
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Commits on Jun 27, 2026
- Fix examples
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  02474cf

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Commits on Jun 27, 2026