## NOTE

This release note is based on changes since v1.3. If you are switching from v0.x to v1.x for the first time, you might want to review all release notes since the v1.0 pre-release,

## COMPATIBILITY

* Flexiv software package **v3.6**

## ADD

- Add sub-namespace: `flexiv::` now becomes `flexiv::rdk::`.
- Add support for Rizon medical model `Rizon4M`.
- Add support for the force-controlled delta robot `Moonlight`.
- Add support of `flexiv::rdk::Model` API for Python RDK. Add `intermediate5_robot_dynamics.py` example accordingly.
- Add installation of Python RDK libraries to the user site packages path, using CMake. Remove `sys.path.insert()` from Python examples accordingly.
- Add `RobotInfo::K_q_nom`, nominal motion stiffness of the joint impedance control modes of the connected robot.
- Add `RobotInfo::model_name`, model name of the connected robot, e.g. Rizon4, Rizon10, Moonlight, etc.
- Add `RobotInfo::DoF`, joint-space degrees of freedom of the connected robot. Remove `kJointDOF` constant accordingly. The joint DoF now varies according to the model of the connected robot. Update examples accordingly.
- Add real-time joint impedance (`RT_JOINT_IMPEDANCE`) and non-real-time joint impedance (`NRT_JOINT_IMPEDANCE`) control modes. Add `intermediate2_realtime_joint_impedance_control.cpp` and `intermediate2_non_realtime_joint_impedance_control.py` examples accordingly.
- Add `Robot::SetJointImpedance()` and `Robot::ResetJointImpedance()` that sets and resets stiffness and damping ratio of the robot's joint motion controller used in the joint impedance control modes.
- Add `Robot::Brake()` to force engaging or releasing robot brakes during normal operation. Only available to the medical model.
- Add `Model::reachable()` to check reachability of a given Cartesian pose and return the corresponding IK solution if reachable.
- Add error code prefix to Robot Log messages.
- Add new dependency `spdlog` to replace the `flexiv::Log` API. Update examples and tests accordingly.
- Add new C++ example to show how to change logging behavior of RDK client, as well as how to log to file.
- Add input parameter `separator` to `utility::Arr2Str()`.
- Add `utility::Vec2Str()`.

## CHANGE

- Change header file extension from `.h` to `.hpp` to prevent C++ IntelliSense tool from mistaking certain system headers for RDK headers.
- To accommodate the newly added support of the Moonlight delta robot, change joint-space variables in `RobotInfo` and `RobotStates` data structures from fixed-size arrays to dynamic-size vectors. Also change input arrays of `Robot::StreamJointTorque()`, `Robot::StreamJointPosition()`, `Robot::SendJointPosition()`, `Robot::SetJointImpedance()`, `Robot::SetNullSpacePosture()`, and `Model::Update()` to vectors. Update examples accordingly.
- Rename `RobotInfo::nominal_K` to `RobotInfo::K_x_nom`.
- Update function documentation of `Robot::StreamJointPosition()` and `Robot::SendJointPosition()` to include joint impedance control modes.
- Change `Robot::SetCartesianStiffness()` to `Robot::SetCartesianImpedance()` and `Robot::ResetCartesianStiffness()` to `Robot::ResetCartesianImpedance()`. Cartesian motion damping ratio is added as a new input parameter. Update examples accordingly.
- Rename `kCartDOF` to `kCartDoF`. Update examples accordingly.
- Update `Robot::ClearFault()` to support clearing critical robot faults, if the hardware for hot-reset is installed.
- Increase nominal Cartesian stiffness of Rizon 4 series from [10000-1000] to [10000-2500], and Rizon 10 series from [20000-2000] to [20000-6000].
- Greatly reduce blocking time of `Robot::ExecutePrimitive()`, `Robot::ExecutePlan()`, `Robot::SwitchMode()`, and `Tool::` functions.
- Use pip installed `spdlog` in Python examples.
- Merge `PrintDescription()` to `main()` in all examples.
- Change `maxVel=` to `vel=` in primitive execution examples.
- Use f-string formatting in Python examples.
- Upgrade `doc/Doxyfile.in`.
- Improve function documentations.
- Improve README.
- Improve dependencies build script.

## FIX

- Fix `Robot::global_variables()` does not return updated values if called immediately after `Robot::SetGlobalVariables()`.
- Fix a bug where re-switching control mode before sending commands is not enforced after disconnected then reconnected with the robot.
- Fix a bug in `test/test_dynamics_engine.cpp`.
- Fix keyboard interruption handling for Python examples.
- Fix compatibility issue with Eigen for Python 3.12 libraries.

Flexiv RDK_v1.4

## COMPATIBILITY
- Flexiv software package v2.11.5

## ADD
(None)

## CHANGE
- Change the behavior of ` Robot::setNullSpacePosture()`. Before: null-space posture will be reset to default upon entering the applicable control modes. Now: null-space posture will maintain the current posture upon entering the applicable control modes (#45).
- Provide explicit safe values for the input parameters of  `Robot::sendCartesianMotionForce()`.
- Increase nominal Cartesian stiffness of Rizon 4 and its variants from [linear: 6000 N/m, angular: 400 Nm/rad] to [linear: 10000 N/m, angular: 1000 Nm/rad].
- Increase nominal Cartesian stiffness of Rizon 10 and its variants from [linear: 12000 N/m, angular: 1200 Nm/rad] to [linear: 20000 N/m, angular: 2000 Nm/rad].
- Use MSVC 14.1 (VS 2017) to compile Windows libraries (#46).
- Improve code documentation.

## FIX
- Fix a bug in `Robot::getPrimitiveStates()` that has a chance to cause program crash (#47).
- Fix a bug in `Robot::switchTcp()` that causes this function unable to deliver the command.

Flexiv RDK_v0.10

## COMPATIBILITY
Flexiv software package v2.11.3

## ADD
(None)

## CHANGE
(None)

## FIX
Fix a bug where the second consecutive plan execution command won't execute.

Flexiv RDK_v0.9.1

## COMPATIBILITY
- Flexiv software package v2.11.3
## ADD
- Add notification service to receive and print info/warning/error messages that would also be prompted in the Elements UI (#29).
- Add new input parameters `maxLinearVel` and `maxAngularVel` input parameters to `Robot::sendCartesianMotionForce()` to specify maximum Cartesian linear and angular velocity when moving to the target pose.
- Add `Robot::setMaxContactWrench()` to specify the maximum contact wrench for the motion control part of the Cartesian motion-force control modes. Also add `Robot::resetMaxContactWrench()` to disable max contact wrench regulation.
- Add more generic Cartesian motion-force control modes `RT/NRT_CARTESIAN_MOTION_FORCE` to replace the old ones which are `RT/NRT_CARTESIAN_MOTION_FORCE_TCP` and `RT/NRT_CARTESIAN_MOTION_FORCE_BASE`.
- Add functions to configure force control parameters for the new Cartesian motion-force control modes: `Robot::setForceControlAxis()`, `Robot::setForceControlFrame()`, and `Robot::setPassiveForceControl()`.
- Add behavior description to the function doc of `Robot::sendJointPosition()`.
- Add input parameter `continueExec` to `Robot::executePlan()` to specify whether to continue executing the plan when the RDK program is closed or the connection is lost. Set this parameter to true in the plan execution examples.
- Add optional verbose warning print to `Robot::isOperational()` to indicate why the robot is not operational when this function returns false.
- Add `Robot::isEnablingButtonPressed()` to check if the enabling button on the robot motion bar is pressed.
- Add `Model::reload()` to sync the latest robot model and tool model data from the connected robot.
- Add `Scheduler::minPriority()` to get the OS' minimum available priority for user tasks.
- Add check on user-specified task priority against the OS' minimum available priority to `Scheduler::addTask()`.
- Add [Blocking] or [Non-blocking] tag to function doc.
- Add `Log::critical()` to print critical error message.
- Add `utility::arr2Str()`.
## CHANGE
- Change `Robot::streamCartesianMotionForce()` and `Robot::sendCartesianMotionForce()` to use the same controller as `MoveHybrid` primitive. Update Cartesian motion-force control examples accordingly (#35).
- Divide `Robot::setCartesianStiffness()` to `setCartesianStiffness()` and `resetCartesianStiffness()`.
- Divide `Robot::setNullSpacePosture()` to `setNullSpacePosture()` and `resetNullSpacePosture()`.
- Change `Robot::readDigitalInput()` to read all digital input ports at once. Also change it from a non-real-time blocking function to a real-time non-blocking function (#27).
- Change `Robot::writeDigitalOutput()` to support writing to one or multiple digital output ports at once.
- Change `Robot::enable()` to print warning instead of throwing exception if E-Stop is not released.
- Change `Gripper::getGripperStates()` from a non-real-time blocking function to a real-time non-blocking function (#25).
- Change the term "operation mode" to "control mode" to avoid confusion with the robot's Auto/Manual operational mode.
- Replace `Robot::startAutoRecovery()` with `Robot::runAutoRecovery()`, which blocks until the automatic recovery process is finished. Update examples accordingly.
- Remove input parameter `gravityEarth` from the constructor of `flexiv::Model`. The value will now be auto-synced from the connected robot.
- Remove input parameter `isBlocking` from `Scheduler::start()`, the user should implement their own blocking from the calling thread if needed. Update examples accordingly.
- Rename `Model::updateModel()` to `Model::update()`. Update examples accordingly.
- Remove check on elapsed waiting time of `Robot::isOperational()` from the examples.
- Improve function docs.
- Increase CMake minimum version to 3.16.3.
- Rename C++ libs to all lower-case.
- Remove Ubuntu 18.04 from supported OS list.
- Format Python examples using Black Formatter.
## FIX
- Fix occasional false negative of `Robot::isBusy()` (#26).
- Reduce mode transition time when calling `Robot::setMode()`.
- Fix a gripper control bug where the primitive/plan loses control of the gripper after any function from `flexiv::Gripper` API is called.
- Fix memory leak of `flexiv::Scheduler` (#37).
- Fix initial timer fluctuation of `flexiv::Scheduler`.
- Fix a bug where the input parameter `enableGravityComp` of `Robot::streamJointTorque()` cannot disable gravity compensation (#39).
- Fix a bug where the executing plan will be terminated when `Robot::setGlobalVariables()` is called.
- Fix a bug in heartbeat service where the connection will be closed immediately upon reconnection after disconnected for a while (#30).
- Fix a bug in timeliness monitor (#38).
- Fix incorrect description in the function doc of `Robot::executePrimitive()`.

Flexiv RDK_v0.9

## COMPATIBILITY
- Flexiv robot software v2.10.5
## ADD
- Add new API for Cartesian unified motion-force control in base or TCP frame. For real-time access, use modes `RT_CARTESIAN_MOTION_FORCE_BASE` and `RT_CARTESIAN_MOTION_FORCE_TCP`. For non-real-time access, use modes `NRT_CARTESIAN_MOTION_FORCE_BASE` and `NRT_CARTESIAN_MOTION_FORCE_TCP`.
- Add real-time and non-real-time examples for the new motion-force control mode.
- Add new method `Robot::info()` to access general information of the robot.
- Add new method `Robot::pausePlan()`to pause or resume the execution of the current plan.
## CHANGE
- Replace `Robot::streamTcpPose()` with newly added motion-force control method `Robot::streamCartesianMotionForce()`.
- Replace `Robot::sendTcpPose()` with newly added motion-force control method `Robot::sendCartesianMotionForce()`.
- Replace `Robot::executePlanByIndex()` and `Robot::executePlanByName()` with overloaded function `Robot::executePlan()`.
- Remove `contact_control` examples, replace with direct motion force control examples.
- Remove `series_operation` examples, no longer relevant.
- Replace `RT_cartesian_impedance_control` example with `RT_cartesian_pure_motion_control` example, using the newly added motion-force control API.
- Add blocking check on whether the desired mode is successfully set to `Robot::setMode()`. Remove manual check using `Robot::getMode()` from examples.
- Rename `StatesData.hpp` to `Data.hpp`.
- Update enums naming of `flexiv::Mode`.
- Update `Robot::setCartesianStiffness()` to reset to default values based on detected robot model.
- Update `Robot::setNullSpacePosture()` to reset to default values based on detected robot model.
- Update README.
- Re-organize examples into basic and intermediate tutorials.
## FIX
- Improve server-client compatibility check.
- Minor fixes to examples.

Flexiv RDK_v0.8

## COMPATIBILITY
- Flexiv robot software v2.10.3
## ADD
- Add GitHub action for Windows.
- Add support for Python 3.10.
- Add support for the real-time scheduler `flexiv::Scheduler` on macOS.
- Add support for setting CPU affinity in `flexiv::Scheduler`.
- Add `Scheduler::maxPriority()` to get the maximum available priority for the user task under the current system.
- Add contact control C++ and Python example.
- Add new exception types: `ClientException` and `LogicException`.
- Add `flexiv::GripperStates` struct and corresponding output stream operator `<<` to `StatesData.hpp`: the general gripper feedback states, update examples accordingly.
- Add `Gripper::getGripperStates()` to request the latest gripper states from robot server, update examples accordingly.
- Add `Robot::setNullSpacePosture()` to do null-space posture control during Cartesian control modes, update examples accordingly.
- Add detailed description to items in `flexiv::RobotStates` struct.
- Add `RobotStates::ftSensorRaw:` the raw reading from the end-effector force-torque (FT) sensor, if available.
- Add output stream operator `<<` for `flexiv::PlanInfo` struct.
- Add URDF and mesh files for Rizon 10 robot arm.
- Add DAE format visual mesh files.
## CHANGE
- Remove `flexiv::Visualization` and related contents: users now need to use their own visualization methods.
- Remove `RobotStates::endLinkPose`.
- Improve API docs.
- Improve the performance, compatibility, and stability of `flexiv::Scheduler`.
- Rename `Scheduler::getTaskCount()` to `Scheduler::numTasks()`.
- Rename `RobotStates::extForceInTcpFrame` to `RobotStates::extWrenchInTcp`.
- Rename `RobotStates::extForceInBaseFrame` to `RobotStates::extWrenchInBase`.
- Update all examples to pass by (const) reference.
- Update primitive execution examples to demonstrate how to express target coordinate in TCP frame.
- Update the constructor of `flexiv::Gripper` to pass by const reference.
- Update the constructor of `flexiv::Model` to pass by const reference.
- Update `Robot::isBusy()` to also cover primitives that can auto-terminate upon completion (some primitives won't auto-terminate upon completion, for example, the [Move] series).
- Update CMakeLists to auto-detect OS and processor type.
- Update README.
## FIX
- Fix a bug in series operation example where the specified plan no longer exists.
- Fix a bug where `Robot::setGlobalVariables()` can be used in other modes other than the plan execution mode.
- Fix a bug where `Robot::setGlobalVariables()` returns too soon and the processing may have not fully completed.


Flexiv RDK_v0.7

## COMPATIBILITY
- Flexiv robot software v2.10.1
## ADD
- Add GitHub workflow for Ubuntu 22.04.
## CHANGE
- Remove `Robot::setSwivelAngle()`: the swivel angle-based robot posture control is now replaced by the null space optimization-based posture control.
- Remove contents related to `Robot::setSwivelAngle()` from examples.
- Make all `flexiv::utility` methods explicit inline.
## FIX
- None

Flexiv RDK_v0.6.1

## COMPATIBILITY
- Flexiv robot software v2.10
## ADD
- Add ROS2 support, see flexiv_ros2.
- Add C++ and Python support for macOS.
- Add Python support for Windows.
- Add new parameter `forceLimit` to `Gripper::move()` to specify max gripping force.
- Add `Robot::isBusy()` to check if the robot is currently executing a task.
- Add `Robot::isEstopReleased() `to check if E-stop is released.
- Add check on the size of input string of `Robot::executePrimitive()`, cannot exceed 5kb.
- Add `Robot::setGlobalVariables()` and `Robot::getGlobalVariables()` to interact with the robot system's global variables.
- Add `flexiv::utility` namespace with useful helper functions.
- Add `Visualization::updateScene()` function overloading to update the color of a specified object in the scene.
## CHANGE
- Change the C++ interface to a unified modern CMake project that can be installed and linked to as a CMake target package on all supported OS.
- Remove Windows Visual Studio project and solution file, replaced by the unified CMake framework.
- Remove `m_` prefix for struct members in `StatesData.hpp`.
- Remove `Robot::isTimeout()`, connection quality is auto-handled.
- Remove `Robot::getSystemStatus()`, also remove `SystemStatus` data struct, the members are either outdated or handled by dedicated API methods.
- Change input parameters of `Robot::streamTcpPose():` remove target velocity and acceleration to guarantee a passive impedance behavior; add optional parameter `maxWrench` to specify maximum contact wrench during operation.
- Change input parameter `maxWrench` of `Robot::sendTcpPose()` to optional.
- Change the output parameter of `Robot::getRobotStates()` and `Robot::getPlanInfo()` from pass by pointer to pass by reference.
- Increase the maximum size of input string of `Robot::executePrimitive()` from 1kb to 5kb.
- Re-organize C++ and Python libraries, add system and processor identifiers.
- Rename `spec` folder to `resources`.
- Improve API docs.
- Improve examples.
- Update README with compilation quick start for all supported OS.
## FIX
- A command execution bug in the primitive execution mode.

Flexiv RDK_v0.6

## COMPATIBILITY
- Flexiv robot software v2.9
## ADD
- Static RDK libraries for Windows on x64 and x86 processor platforms.
- Example Visual Studio projects that link to the static libraries.
## CHANGE
- Re-organize `lib/` directory: group libraries by OS, programming language, and processor platform.
## FIX
- A bug that caused delay in the execution of a primitive command.

Flexiv RDK_v0.5.1

## COMPATIBILITY
- Flexiv robot software v2.9
## ADD
- C++ and Python library for arm64 processors.
- `flexiv::Scheduler` class for users to add and run periodic tasks with user-defined interval and priority. Update all examples with this scheduler.
- `flexiv::Exception` class that contains customized exceptions thrown by RDK's APIs. Update all examples with exception handling.
- `flexiv::Gripper` class to control grippers that use the communication protocol template provided by Flexiv.
- `flexiv::Robot::setCartesianStiffness()` to online change the stiffness of the Cartesian impedance controller during Cartesian impedance modes.
- `flexiv::Robot::setSwivelAngle()` to online change the robot arm's elbow swivel angle during Cartesian impedance modes.
- `flexiv::Visualization::updateScene()` to update position of objects added to the visualizer scene.
- Default initialization for all members in `StatesData.hpp`.
- New example: clear minor fault on robot server.
- New example: gripper control.
- Fault check of robot server to all examples.
## CHANGE
- Move all header files to `flexiv`sub-directory.
- Replace error return of all methods with customized exception defined in `flexiv::Exception`.
- Merge `flexiv::Robot::Init()` with its class constructor.
- Merge `flexiv::Visualization::Init()` with its class constructor.
- Change `flexiv::Robot::readDigitalInput()` to output result through function return instead of an output pointer parameter.
- Rename `RobotStates.hpp` to `StatesData.hpp`.
- Rename `flexiv::Visualization::update()` to `flexiv::Visualization::updateRobot()`.
- Remove `flexiv::Robot::loadModel()`: replaced by the constructor of `flexiv::Model`.
- Remove `flexiv::SystemStatus::m_motionCmdSuccessRate`: no longer useful.
- Remove `flexiv::SystemStatus::m_errorMsg`: accurate error message can be found on the UI tablet.
- Remove `flexiv::SystemStatus::m_ptStates`: replaced with a dedicated method `flexiv::Robot::getPrimitiveStates()`.
- Remove `flexiv::Model::setTool()`, the tool dynamics update is now automated.
- Remove unnecessary smart pointers from all examples.
- Replace unnecessary heap allocation with stack allocation in all examples.
- Reduce continuous network bandwidth consumption by 75%, increasing connection robustness under bad network connections.
- Increase round-trip communication latency tolerance to 1000 ms (only for non-real-time APIs).
- Upgrade `Eigen` library in thirdparty/ to 3.3.7.
## FIX
- Missing color in the provided robot URDF.
- Compatibility issue of `flexiv::Log` with some versions of the `fmt` library.


Flexiv RDK_v0.5.0

## COMPATIBILITY
Flexiv robot software v2.8.1
## ADD
- Python (3.8) support for selected non-real-time APIs
- Example Python scripts under example_py
- New joint-space non-real-time API `flexiv::Robot::sendJointPosition()`, activated with new robot mode `flexiv::Mode::MODE_JOINT_POSITION_NRT`
- New Cartesian-space non-real-time API `flexiv::Robot::sendTcpPose()`, activated with new robot mode `flexiv::Mode::MODE_CARTESIAN_IMPEDANCE_NRT`
## CHANGE
- Rename API `flexiv::Robot::timeout()` to `isTimeout()`
- Rename struct member `flexiv::SystemStatus::m_jntLimitTriggered` to `m_jointLimitTriggered`
- Simplify example `auto_recovery`
## FIX
- A bug in example `robot_dynamics` that might block the state transition

Flexiv RDK_v0.4.0

## COMPATIBILITY
Flexiv robot software v2.8
## ADD
Loop latency benchmark test
## CHANGE
Remove `m_reachedReady` from `flexiv::SystemStatus` struct
Update ground truth in dynamics engine tests
Remove `example/tool` directory
## FIX
(None)

Flexiv RDK_v0.3.1

## COMPATIBILITY
- Flexiv robot software v2.8 pre-release
## ADD
- `flexiv::Log` class to print info, warning, and error messages with timestamp and coloring
- `flexiv::Visualization` class to use the integrated Meshcat-based visualization
- Derivative of joint torques `m_tauDot` to `flexiv::RobotStates` struct
- Latex documentation with math expressions
- Timeliness monitor: when running in a real-time mode, a fault is triggered if the user command fails to arrive the robot within 1ms for several consecutive cycles
- Examples for primitive execution and integrated visualization
- Tests on timeliness monitor, robot states data integrity, RDK endurance, flexiv::Log class
- Overloading of the ostream operator `<<` for `flexiv::RobotStates` struct to easily print all robot states in JSON format
- GitHub workflow for Ubuntu 18.04
## CHANGE
- Update README
- Update Doxyfile
- Rename members in `flexiv::RobotStates` struct to be symbol-specific
- Remove `m_tcpAcc` from `flexiv::RobotStates` struct
- Replace IP address configuration using `config.h` with program arguments
- Replace message print using `std::iostream` with `flexiv::Log`
- Remove `flexiv::Model::Frame` enum, `flexiv::Model::getJacobian()` and `getJacobianDot()` now uses link name string as input parameter
- Rename `urdf/` directory to `spec/`
- Replace dae mesh files with stl, update URDF accordingly
- Upgrade the timer used by the robot's state publisher for a more reliable real-time robot states publishing
## FIX
- A bug that can cause, at a very low probability, a value spike in received robot states data

Flexiv RDK_v0.3.0

## COMPATIBILITY
Flexiv robot software v2.7
## ADD
Initial public release.


发布版本