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https://github.com/flexivrobotics/flexiv_rdk

Robotic Development Kit (RDK) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, Windows, and QNX.
https://github.com/flexivrobotics/flexiv_rdk

adaptive-robots cpp flexiv force-control linux macos python qnx real-time robotics sdk windows

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Robotic Development Kit (RDK) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, Windows, and QNX.

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README 

          
# Flexiv RDK



![CMake Badge](https://github.com/flexivrobotics/flexiv_rdk/actions/workflows/cmake.yml/badge.svg)

[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0.html)



Flexiv RDK (Robotic Development Kit), a key component of the Flexiv Robotic Software Platform, is a powerful development toolkit that enables the users to create complex and customized robotic applications using APIs that provide both low-level real-time (RT) and high-level non-real-time (NRT) access to Flexiv robots.



## References



[Flexiv RDK Home Page](https://www.flexiv.com/software/rdk) is the main reference. It contains important information including user manual and API documentation. The instructions below serve as a quick reference, and you can find the full documentation at [Flexiv RDK Manual](https://www.flexiv.com/software/rdk/manual).



## LLM Guidance



For AI-assisted code generation in this repository, see [llms.txt](llms.txt).



## Environment Compatibility



| **OS**                | **Platform**    | **C++ compiler kit** | **Python interpreter** |

| --------------------- | --------------- | -------------------- | ---------------------- |

| Linux (Ubuntu 22.04+) | x86_64, aarch64 | GCC   v11.4+         | 3.10, 3.12, 3.13       |

| macOS 12+             | arm64           | Clang v14.0+         | 3.10, 3.12             |

| Windows 10+           | x86_64          | MSVC  v14.2+         | 3.10, 3.12             |

| QNX 8.0.3+            | x86_64, aarch64 | QCC   v12.2+         | Not supported          |



## Important Notice



Before trying to run any RDK program, please make sure to carefully go through the [First Time Setup](https://www.flexiv.com/software/rdk/manual/index.html#first-time-setup) chapter in RDK Manual. Otherwise, you might run into blocking issues.



## Quick Start - Python



### Install the Python package



On all supported platforms, the Python package of RDK and its dependencies for a specific Python version can be installed using the `pip` module:



    python3.x -m pip install numpy spdlog flexivrdk



Note: replace `3.x` with a specific Python version.



### Use the installed Python package



After the `flexivrdk` Python package is installed, it can be imported from any Python script. Test with the following commands in a new Terminal, which should start Flexiv RDK:



    python3.x

    import flexivrdk

    robot = flexivrdk.Robot("Rizon4-123456")



The program will start searching for a robot with serial number `Rizon4-123456`, and will exit after a couple of seconds if the specified robot is not found in the local network.



### Run example Python scripts



To run an example Python script in this repo:



    cd flexiv_rdk/example_py

    python3.x .py 



For example:



    python3.10 ./basics1_display_robot_states.py Rizon4-123456



## Quick Start - C++



### Prepare build tools



#### Linux



1. Install compiler kit using package manager:



       sudo apt install build-essential



2. Install CMake using package manager:



       sudo apt install cmake



#### macOS



1. Install compiler kit using `xcode` tool:



       xcode-select 



   This will invoke the installation of Xcode Command Line Tools, then follow the prompted window to finish the installation.



2. Install CMake using package manager:



       brew install cmake



#### Windows



1. Install compiler kit: Download and install Microsoft Visual Studio 2019 (MSVC v14.2) or above. Choose "Desktop development with C++" under the *Workloads* tab during installation. You only need to keep the following components for the selected workload:

   * MSVC ... C++ x64/x86 build tools (Latest)

   * C++ CMake tools for Windows

   * Windows 10 SDK or Windows 11 SDK, depending on your actual Windows version

2. Install CMake: Download `cmake-3.x.x-windows-x86_64.msi` from [CMake download page](https://cmake.org/download/) and install the msi file. The minimum required version is 3.16.3. **Add CMake to system PATH** when prompted, so that `cmake` and `cmake-gui` command can be used from Command Prompt or a bash emulator.

3. Install bash emulator: Download and install [Git for Windows](https://git-scm.com/install/windows), which comes with a bash emulator Git Bash. The following steps are to be carried out in this bash emulator.



#### QNX



1. Prepare a host computer with Ubuntu 22.04 or higher.

2. Download and install [QNX SDP 8.0.3](https://blackberry.qnx.com/en/products/foundation-software/qnx-software-development-platform) to the host computer. You'll need a trial or commercial license.

3. Install CMake on the host computer using package manager:



       sudo apt install cmake



### Install the C++ library



The following steps are mostly the same on all supported platforms, with some variations.



1. Choose a directory for installing the C++ library of RDK and its dependencies. This directory can be under system path or not, depending on whether you want RDK to be globally discoverable by CMake. For example, a new folder named `rdk_install` under the home directory.

2. In a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 1:



       cd flexiv_rdk/thirdparty



   On non-QNX:



       bash build_and_install_dependencies.sh ~/rdk_install



   On QNX:



       source /qnxsdp-env.sh

       bash build_and_install_dependencies.sh ~/rdk_install $(nproc) 



   Note: the QNX toolchain files are located under `flexiv_rdk/cmake` directory, with one for x86_64 target and one for aarch64 target.



3. In the same Terminal, configure the `flexiv_rdk` CMake project:



       cd flexiv_rdk

       mkdir build && cd build



   On non-QNX:



       cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install



   On QNX:



       cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install -DCMAKE_TOOLCHAIN_FILE=



   Note: `-D` followed by `CMAKE_INSTALL_PREFIX` sets the absolute path of the installation directory, which should be the one chosen in step 1.



4. Install `flexiv_rdk` C++ library to `CMAKE_INSTALL_PREFIX` path, which may or may not be globally discoverable by CMake depending on the location:



       cd flexiv_rdk/build

       cmake --build . --target install --config Release



### Use the installed C++ library



After the library is installed as `flexiv_rdk` CMake target, it can be linked from any other CMake projects. Using the provided `flexiv_rdk-examples` project for instance:



    cd flexiv_rdk/example

    mkdir build && cd build



On non-QNX:



    cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install

    cmake --build . --config Release -j 4



On QNX:



    cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install -DCMAKE_TOOLCHAIN_FILE=

    cmake --build . --config Release -j 4



Note: `-D` followed by `CMAKE_PREFIX_PATH` tells the user project's CMake where to find the installed C++ library. This argument can be skipped if the RDK library and its dependencies are installed to a globally discoverable location.



### Run example C++ programs



To run an example C++ program compiled during the previous step:



    cd flexiv_rdk/example/build



On Linux and macOS:



    LD_LIBRARY_PATH=~/rdk_install/lib ./ 



On Windows (Command Prompt):



    set PATH=%USERPROFILE%\rdk_install\bin;%PATH%

    Release\.exe 



Note:



1. Replace `` with the actual serial number of the robot, for example `Rizon4-123456`.

2. `LD_LIBRARY_PATH` or `PATH` is used to specify where the shared libraries of the dependencies are installed.

3. Root privilege is required if the real-time scheduler API `flexiv::rdk::Scheduler` is used in the program.



## API Documentation



The complete and detailed API documentation of the **latest release** can be found at [Flexiv RDK APIs](https://www.flexiv.com/software/rdk/api). The API documentation of a previous release can be generated manually using Doxygen. For example, on Linux:



    sudo apt install doxygen-latex graphviz

    cd flexiv_rdk

    git checkout 

    doxygen doc/Doxyfile.in



Open any html file under `flexiv_rdk/doc/html/` with your browser to view the doc.