v1.6_test

x86-64 linux 0115

v1.5

🧩 COMPATIBILITY

• Flexiv software package v3.10

---

🚀 ADD

• Added support for Linux (Ubuntu 22.04+) on the aarch64 platform. #22
• Added support for python 3.8, 3.10 and 3.12. Python package was published to PyPI and can be installed via pip install flexivtdk on the supported platform.
• flexiv::tdk::TransparentCartesianTeleopWAN/LAN now support teleoperation of robots equipped with external axes.
• Added InitWithIdx(), StartWithIdx(), and StopWithIdx() to flexiv::tdk::TransparentCartesianTeleopLAN/WAN, enabling simultaneous and individual teleoperation of multiple pairs of robots.
• Added CheckTeleopConnectionLatency() to flexiv::tdk::TransparentCartesianTeleopWAN for querying connection status and message latency over WAN.
• Added SetTeleopLatencyLimit()to flexiv::tdk::TransparentCartesianTeleopWAN
• Added stopped() function to flexiv::tdk::TransparentCartesianTeleopLAN/WAN to check whether the teleoperation process has stopped.

---

🔧 CHANGE

• Updated TDK version to v1.5.0.
• TransparentCartesianTeleopWAN now supports dual-arm teleoperation by providing a pair of leader-follower robot serial numbers in the constructor and specifying the current robot’s role (leader or follower).
• Removed teleoperation role selection from Init(); the role is now specified in the constructor.
• Made Start() non-blocking for both flexiv::tdk::TransparentCartesianTeleopLAN and flexiv::tdk::TransparentCartesianTeleopWAN, allowing users to call other functions immediately after Start(). #19
• TransparentCartesianTeleopWAN now supports multiple robot pairs.
• TransparentCartesianTeleopWAN/LAN now require the FT sensor to be configured before starting teleoperation.
• Improved and updated README.md documentation.

---

🩹 FIX

• Improved exception handling for timeliness and stability checks. #26
• Fixed the Stop() function bug. #25
• Fixed an issue where the robot might fail to stop promptly if the network disconnects during WAN teleoperation.

---

1.5_patch

Release/v1.5 (#28)

Release note:
https://github.com/flexivrobotics/flexiv_tdk/releases/tag/v1.5

v1.4

COMPATIBILITY

• Flexiv software package v3.9.3

ADD

• Add flexiv::tdk::DeviceTeleopLan class and flexiv::tdk::MotionControlCmds for users to use customized devices (haptic device, space mouse, etc.) to teleop one or more robots connected to the same LAN.
• Add flexiv::tdk::TransparentCartesianTeleopWAN class to expand transparent cartesian teleop from LAN to WAN. #17.
• Add flexiv::tdk::NetworkCfg to unify the network configuration for all WAN teleop.
• Add flexiv::tdk::Role to specify the participants in transparent cartesian teleop.
• TransparentCartesianTeleopLAN::Init(bool limit_wrist_singular = true) now has a new parameter limit_wrist_singular to allow user switch on/off repulsion near wrist singularity. #21.
• Add instance/s() for all classes to get access to the RDK's Gripper and other APIs.
• Add question type in the issue template.
• Add example program for TransparentCartesianTeleopWAN.

CHANGE

• Update TDK version to v1.4
• Replace local-remote with leader-follower in doc and APIs of transparent cartesian teleop.
• JointTeleopWAN use flexiv::tdk::NetworkCfg as constructor parameter.
• Use third-party flexiv_rdk and its dependencies.
• Remove GitHub-hosted Ubuntu 20.04 runner as not supported officially.

FIX

• Fix CartesianTeleopLAN::SyncPose() bug. #12.
• Fix Stop() bug. #14.
• Fix CartesianTeleopLAN example bug. #13.

v1.3

COMPATIBILITY

• Flexiv software package v3.8

CHANGE

• Update TDK version to v1.3

• Restored Robot2RobotTeleop from V1.1 and renamed it to TransparentCartesianTeleopLAN

• Refactor the TransparentCartesianTeleopLAN class API to make it unified

• Wrench feedback transparency improvement

FIX

None

v1.2.2

COMPATIBILITY

• Flexiv software package v3.7.1

ADD

• Add CartesianTeleopLAN::SetCartesianImpedance().
• Add CartesianTeleopLAN::SetInertiaShaping().
• Add JointTeleopLAN::SetJointImpedance().
• Add JointTeleopWAN::SetJointImpedance().
• Add JointTeleopLAN::SetInertiaShaping().
• Add JointTeleopWAN::SetInertiaShaping().
• Add JointTeleopLAN::DoF().
• Add JointTeleopWAN::DoF().
• Add CartesianTeleopLAN::robot_states().
• Add JointTeleopLAN::robot_states().
• Add JointTeleopWAN::robot_states().
• Add data.hpp.

CHANGE

• Change all digital_inputs() to return array.
• Require index input for fault().
• Update examples.

FIX

None

v1.2.1

COMPATIBILITY

• Flexiv software package v3.7.1

ADD

• Add input parameter network_interface_whitelist to all constructors to allow limiting the network interface(s) that can be used for establishing connection with the local/remote robot.

CHANGE

• Use shared steps in GitHub workflow.
• Improve resource efficiency of background communication services.

FIX

• Fix a bug that causes occasional failure when trying to establish connection with the robot.

v1.2

COMPATIBILITY

• Flexiv software package v3.7

ADD

• Add new API JointTeleopLAN for joint-space robot-robot teleoperation under local area network.
• Add new API JointTeleopWAN for joint-space robot-robot teleoperation under wide area network, i.e. Internet.
• Add examples for the new APIs.
• Add new thirdparty dependencies.

CHANGE

• Replace Robot2RobotTeleop API with the newly designed CartesianTeleopLAN for Cartesian-space robot-robot teleoperation under local area network.
• Remove flexiv_rdk dependency.
• Remove OpenSSL dependency.
• Update README.

FIX

• (None)

v1.1

COMPATIBILITY

• Flexiv software package v3.6

ADD

• Add spdlog for log info printing in terminal and file
• Add Engage() to engage/disengage the teleop
• Add SetWrenchFeedbackScalingFactor to amplify or reduce the wrench feedback

CHANGE

• Bump version to v1.1
• Change cmake_minimum_required version from 3.22.1 to 3.16.3
• Add Ubuntu20.04 compatibility support
• Rename repo name to flexiv_tdk
• Remove dependencies: Eigen, Fast-CDR, Fast-DDS, Boost-Filesystem, using dependency of flexiv_rdk instead.
• Change namespace from flexiv::omni::teleop to flexiv::tdk
• Rename Robot2RobotTeleop.hpp to robot_robot_teleop.hpp
• Rename TeleopDefs.hpp to data.hpp
• Use google style naming
• Change init() to Init()
• Change enable to Enable
• Change stop to Stop
• Change isFault to fault
• Change isOperational to operational
• Change clearFault to ClearFault
• Change step to Step
• Change setLocalNullSpacePosture to SetLocalNullSpacePosture
• Change setRemoteNullSpacePosture to SetRemoteNullSpacePosture
• Change setRemoteMaxWrench to SetMaxContactWrench
• Change setRepulsiveWrench to SetRepulsiveForce
• Change setLocalAxisLockCmd to SetLocalAxisLockCmd
• Change getLocalAxisLockState SetLocalAxisLockCmd
• Change AxisLockDefs to AxisLock
• Delete TeleopRobotInfo
• Delete getLocalInfo
• Delete getRemoteInfo

FIX

• (None)

v1.0

COMPATIBILITY

• Internal pre-release

ADD

• Add openssl dependency
• Add Omni license generator and readme
• Add external wrench feedback and wrist singularity avoidance repulsive force
• Add bool isOperational(void)
• Add void setLocalNullSpacePosture(const std::array<double, k_jointDOF>& preferredPositions)
• Add void setRemoteNullSpacePosture(const std::array<double, k_jointDOF>& preferredPositions)
• Add void setRemoteMaxWrench(const std::array<double, k_cartDOF>& max_wrench)
• Add void setRepulsiveWrench( const std::array<double, k_cartDOF>& repulsiveWrench, bool inWorld = true)
• Add TeleopRobotInfo getLocalInfo(void) const
• Add TeleopRobotInfo getRemoteInfo(void) const

CHANGE

• Bump version to v1.0
• Bump boost to version v1.74.0
• Update info in doxygen template
• Remove Ubuntu20.04 support
• Change void clearFault(void) to bool clearFault(void)
• Change void Robot2RobotTeleop::run(bool isBlocking) to void Robot2RobotTeleop::step(void)
• Remove Robot2RobotTeleop::setLocalCartesianStiffness and Robot2RobotTeleop::setRemoteCartesianStiffness