v0.1.4 — GN01 gripper Enable(name) fix

Fix the real-hardware GN01 gripper no-op: the flexiv_rdk backend now calls Gripper.Enable(gripper_name) before Init() (RDK v1.x requires enabling the named device first, else Gripper.Init() fails with "No gripper enabled" and every gripper command is a silent no-op). The rizon4s_actahead_lab config sets gripper_name: "Flexiv-GN01".

Hardware-verified on Rizon4s-062626 (GN01): the gripper enables cleanly and moves to 0.085 m (settles 0.0855 m), aligning the real gripper with the sim home. See CHANGELOG.md.

v0.1.3 -- real mesh arm + articulated GN01 gripper in the live mirror

The live mirror now renders the actual Rizon 4s mesh and a fully articulating GN01 gripper. flexiv_description ships only xacro sources, so the [viz] extra now generates a self-contained URDF (standalone xacro, no ROS) with two fixes the vendor sources need outside a ROS workspace: mesh paths absolutized (package:// and package-relative both break) and nested mimic chains flattened (yourdfpy resolves one level; the GN01 4-bar chains two -- five of six finger joints froze). Joints map by name; the gripper articulates straight from the streamed width. Run: flexiv-control viz --connect --fetch-assets.

v0.1.2 -- live visualization + intended-motion preview

New optional [viz] extra: a browser-based live robot mirror + intended-motion preview, for safety and debugging. 'flexiv-control viz --connect ' mirrors a running arm from any machine on the LAN (read-only, never takes the lease); RobotViz.preview_chunk renders each chunk's TRUE per-tick command stream (the executor's own resolution + caps + interpolation, so time-stretching is visible) as a time-colored path with waypoint knots, gripper open/close glyphs, terminal pose, and an animated ghost TCP -- plus the live workspace box from the active safety profile, a measured TCP trail, a wrench/status HUD, a stale-preview guard, an optional browser Approve/Reject gate for per-chunk confirmation, and a commanded-vs-measured overlay after execution. pip install 'flexiv-control[viz]'. See docs/visualization.md.

v0.1.1 -- consumer friction audit fixes

Fixes every finding from the ActAhead consumer friction audit plus adversarial-review hardening. Highlights: chunk envelope enforced (tightening-only), safety_profile verified against the active profile, Cartesian-mode auto-ensure with a strict FakeBackend, speed-parameterized move_joint + go_home_safe exit ritual, blocking gripper, get_safety_profile RPC + validate_chunk + workspace reject mode, cooperative cancel/stop that cannot be lost, lease liveness during blocking RPCs, RemoteRobot response-id validation + motion timeouts, re-derived actahead_lab pick-place profile. See CHANGELOG.md for the full list.

v0.1.0

First public release of flexiv-control — a unified, real-time execution & safety layer for Flexiv Rizon arms.

One action contract (CartesianChunk / CartesianDelta / JointChunk + ExecutionResult) for teleoperation, MPC, RL, and real-to-sim-to-real, with a safety filter on every setpoint. Backends: real Rizon (Flexiv RDK v1.x), a dependency-free fake, and MuJoCo. Optional cross-process server with single-writer hold-on-stale streaming and a host-wide lease, an optional C++ 1 kHz daemon, a ROS 2 overlay, a Gymnasium env, and a LeRobot adapter.

Install: pip install flexiv-control

Community project; not affiliated with Flexiv Robotics. Offline-tested (pytest green); not yet validated on real hardware.

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