Add CHANGELOG.md

CHANGELOG.md

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+# Changelog
+
+## [0.10.0] - Unreleased
+
+This version supports Panda and Franka Research 3 robots.
+
+Requires Franka Research 3 system version >= 5.2.0
+
+Requires Panda system version >= 4.2.1
+
+### Added
+
+- Support for FR3 was added
+- Most methods are now generic over the robot type, so they can work with FR3 and Panda robots
+- Downloading of the robot model for other architectures
+- New `RateLimiter` trait that is implemented by the `Panda` and `Fr3` structs
+- The rate limiter for FR3 is using position based velocity limits
+- Code coverage reports
+
+### Changed
+
+- The Robot struct became a trait that is implemented by the `Panda` and `Fr3` structs
+- The Model struct became a trait (`RobotModel`) that is implemented by the `PandaModel` and `Fr3Model` structs
+- Examples now default to FR3 unless `--panda` is passed as argument
+- Rate limiter is disabled by default for FR3
+- FR3 does not have get_virtual_wall and set_filters methods
+- Updated `nalgebra` to version 0.32
+- Updated `clap` to version 4
+
+### Fixed
+
+- Badges in README
+
+## [0.9.0] - 2022-04-01
+
+Requires Panda system version >= 4.2.1
+
+### Added
+
+- Add `O_ddP_O` base acceleration to robot state, hardcoded to `{0, 0, -9.81}`
+- New `BaseAccelerationInitializationTimeout`, `BaseAccelerationInvalidReading`
+  `CartesianSplineViolation` and
+  `JointViaPlanLimitViolation` reflexes
+
+### Changed
+
+- `Model::gravity_from_state` uses `O_ddP_O` from the robot state
+
+## [0.8.2-alpha-2] - 2021-06-18
+
+Requires Panda system version >= 4.0.0
+
+Initial release