v1.2

COMPATIBILITY

• Flexiv Elements Studio v3.10.
• Any external simulator that meets the criteria described in README.

ADD

• Add build type MinSizeRel.
• Add portability to the installed flexiv_sim_plugin lib.
• Add version print to found dependencies.

CHANGE

• Upgrade Fast-DDS to 2.6.10, upgrade its dependencies accordingly.
• Update thirdparty build scripts to clone directly into version tag.
• Change SimRobotStates::q and dq from fixed-size to dynamic-size to support external axes.
• Change SimRobotCommands::tau_d from fixed-size to dynamic-size, and rename it to target_drives.
• Remove kJointDoF from data.hpp.
• Remove -DOPENSSL_USE_STATIC_LIBS=ON when building Fast-DDS.
• Update README.
• Update examples.

FIX

None

v1.1

COMPATIBILITY

• Flexiv Elements Studio v3.8 and v3.9.
• Any external simulator that meets the criteria described in README.

ADD

• Initialize CMake project.
• Add new API sim_plugin::UserNode.
• Add data.hpp with various constants and data structs.
• Add C++ and Python examples.
• Add static library for Ubuntu x86_64 platform.
• Add thirdparty scripts.
• Add GitHub workflow.

CHANGE

• Update README with complete instructions.

FIX

None