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v2.1.0 - #17
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bsoe-flexiv wants to merge 1 commit into
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v2.1.0#17bsoe-flexiv wants to merge 1 commit into
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…dio v3E.1 The 2.1 line is 2.2.0 for Elements Studio v3E.1: the same self-contained shared library, libflexiv_sim_plugin.x86_64-linux-gnu.so, attached to the GitHub release and verified against the committed .sha256 at configure time, and the same C++ and Python API, but on the Fast-DDS transport and messages that Elements Studio v3E.1 uses instead of Zenoh. The library embeds Fast-DDS, Fast-CDR, foonathan_memory, tinyxml2, flexiv_middleware and spdlog and exports only the flexiv::sim_plugin API, so it no longer collides with a program's own Fast-DDS or spdlog (e.g. ROS 2), and the repo has no thirdparty dependencies left to build: the thirdparty folder is removed and only Threads is required. - CMakeLists.txt and FlexivInstallLibrary.cmake follow flexiv_rdk: a SHARED dummy target replaced at install time by the downloaded library. - The examples log with std::cout and Python's logging module instead of spdlog, so they need nothing beyond the plugin. - CI follows flexiv_rdk's CI-Cpp and CI-Python workflows, runs on v2.1.x too, and installs flexivsimplugin 2.1.x. - README: Ubuntu 22.04+ and GCC 11.4+, which plugin line works with which Elements Studio, and the Fast-DDS multicast discovery. Elements Studio v3E.1 does not receive the wrist force/torque, which the plugin drops. - docs/elements_studio_setup.md: on a newer Ubuntu, run Elements Studio in isaac_sim_ws's Ubuntu 22.04 container.
bsoe-flexiv
requested review from
ZhipengZhang-flexiv,
munseng-flexiv,
pzhu-flexiv and
zfquek-flexiv
October 12, 2026 23:10
pzhu-flexiv
approved these changes
Oct 14, 2026
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COMPATIBILITY
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libflexiv_sim_plugin.so, of a static library. Fast-DDS, Fast-CDR and spdlog are built into it and hidden, so it no longer conflicts with a program's own Fast-DDS or spdlog.thirdparty/: the library has no dependencies left to build, and only Threads is required.std::coutin the C++ example and with the standardloggingmodule in the Python example, sopip install spdlogis no longer needed.FIX
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