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Hi LR,

The changes from drcsim 2.5.x to 2.6.x-candidate (now built in drcsim-nightly) can be found in DRCSim RoadMap.

BDI controller AtlasSimInterface 1.1.0 overview and ROS API can be found in the DRCSim User Guide. Underlying C-style data structures and API of the library can be found here.

John