v1.0.0

COMPATIBILITY

• Linux (x86_64) with Docker and a desktop session. Optional: a TPM 2.0 security chip for the licensed services, and an NVIDIA GPU for faster motion planning.
• C++: prebuilt libflexiv_pdk.<platform>.so for Ubuntu 22.04, 24.04 and 26.04 (x86_64), attached below.
• Python 3.10+, any OS: flexivpdk==1.0.0 on PyPI.
• Any other language: generate the stubs from proto/.
• Robots running Flexiv software package v3.11.3, to add a system from a connected robot. The PDK connects to them with Flexiv RDK v1.9.4.1.

ADD

Initial public release.

• WorkcellService to create, load, rename and remove workcells, the saved scenes everything else works in.
• ConfigService to save objects, cameras, coordinates, systems, paths and poses in the active workcell, and to export the scene as URDF.
• FrameService to read and move the frames of the scene's kinematic tree.
• SceneEventService to stream every change to the scene as it happens.
• CollisionService to set the collision margin, and the pairs of components allowed to touch without being checked.
• ComponentsService to list Flexiv manipulators, tools, tool adapters and external axes, and to add custom tools and tool adapters.
• SystemService to add a system from a connected robot, and to read its URDF, serial number and calibration status.
• StateService to read and set the joint positions of a system.
• KinematicsService for forward and inverse kinematics.
• CameraService to capture RGB-D images and point clouds, and to read camera intrinsics.
• ReconstructionService to reconstruct objects from the point clouds of one or more cameras.
• PointToPointPathService (licensed) to plan a robot's motion through joint waypoints.
• SurfaceFinishService (licensed) to generate a raster or sketched tool path on a mesh, refine it, and create the robot motion that follows it.
• MeshOperationService (licensed) to extract an area of a mesh, smooth it, and remove small fragments from it.
• LicenseService to list license states, get this computer's identifier for Flexiv, and install a license without a restart, from a file with InstallFile() (C++) or install_file() (Python).
• VersionService, and Client::CheckVersion() (C++) and Client.check_version() (Python), to check that every part of an installed PDK is the same version.
• LogService.GetLogHistory() to read the PDK's recent log entries without access to its terminal.
• material in spatial.Visual to give objects, custom tools and custom tool adapters a color.
• ToEigen() and ToProto() (C++), to_numpy() and to_proto() (Python), and ToThree(), ToPose() and ToProto() (TypeScript), to convert vectors, rotations, poses, joint values, joint waypoints and inertia between messages and Eigen, NumPy or Three.js.
• pdk-scene, a command-line tool to set up, inspect and watch a scene from any shell.
• C++, Python and ROS 2 examples, and a user manual in doc/manual/.

CHANGE

None

FIX

None

KNOWN ISSUES

• Tested only on Ubuntu 22.04. Other Linux systems with Docker are untested.