0.7.1

Fixes

• set default mesh decimation ratio for URDF collision geometries
• add percentage-based gripper do_command controls to resolve failing teleop integration

Full Changelog: 0.7.0...0.7.1

0.7.0 - URDF Kinematics

What's Changed

• fix: use resource name as input to model parsing by Nick Hehr (@HipsterBrown) in #19
• feat(arm): serve link meshes from hardware arm Get3DModels by Nick Hehr (@HipsterBrown) in #20
• feat(arm): use_urdf kinematics + mesh collision geometry by Nick Hehr (@HipsterBrown) in #21

Full Changelog: 0.6.1...0.7.0

0.6.1

Fixes:

• gripper: use consistent key for positions commands
• gripper: return default HoldingStatus from IsHoldingSomething method

Full Changelog: 0.6.0...0.6.1

0.6.0

What's Changed

• Add simulated arm & gripper, gripper meshes, and EE-frame marker by btshrewsbury-viam in #13
• Fix release build: migrate pnpm onlyBuiltDependencies to pnpm-workspace.yaml by btshrewsbury-viam in #14
• feat: add joint speed config and runtime setting by Nick Hehr (@HipsterBrown) in #16
• feat: add teleop service for leader-follower arm control by Nick Hehr (@HipsterBrown) in #17
• chore: update feetech-servo package to v0.6.0 by Nick Hehr (@HipsterBrown) in #18

New Contributors

• btshrewsbury-viam made their first contribution in #13

Full Changelog: 0.5.5.1...0.6.0

0.5.7-rc2

Release candidate. Supersedes 0.5.7-rc1.

• New mesh_detail attribute on both gripper models (high / low, default low). The gripper mesh is also the motion-planning collision geometry, so low is the responsive default and high is full resolution — set high on a second gripper component for a side-by-side comparison.
• Includes the first_run.sh fix from rc1 (a non-root deploy no longer wedges viam-server reconfiguration).

0.5.7-rc1

Release candidate. Supersedes 0.5.7-rc0.

• Fix first_run.sh: it required root before checking whether nlopt was already installed, and hard-failed when not root. viam-server treats a failed first-run as a fatal reconfiguration error ("reconfiguration aborted ... falling back to last config"), so a non-root deploy wedged the machine. It now checks for nlopt first (no root needed if present) and is best-effort — warns instead of failing when it can't install.
• Also includes the pnpm-11 allowBuilds build fix and a pinned pnpm@11.

0.5.6-rc0

What's Changed

• better docs for first time setup by Grant Mulitz (@gmulz) in #9
• fix: always pass position_only in MoveToPosition by Daniel Botros (@danielbotros) in #10

New Contributors

• Grant Mulitz (@gmulz) made their first contribution in #9
• Daniel Botros (@danielbotros) made their first contribution in #10

Full Changelog: 0.5.4...0.5.5.1

0.5.5

Full Changelog: 0.5.3...0.5.5

0.5.4 - Docs improvements

Full Changelog: 0.5.3...0.5.4

0.5.3 - Internal refactor

What's Changed

• refactor: migrate to new feetech-servo package API by Nick Hehr (@HipsterBrown) in #6

Full Changelog: 0.5.2...0.5.3