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@ZihaoLu001 ZihaoLu001 released this 08 Jun 15:25
· 9 commits to main since this release
v0.1.0
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Learn about vigilant mode.

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.

🤖 Generated with Claude Code

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