FAQ ===== Where can I obtain RDK library files? --------------------------------------- See :ref:`download_rdk`. What OS and programming languages does RDK support? ---------------------------------------------------- See :ref:`compatibility`. What features are available in the current version of RDK? ----------------------------------------------------------------- See :ref:`key_features`. It seems something was wrong and the robot is not doing what I commanded, how can I check what happened? --------------------------------------------------------------------------------------------------------- The RDK client will throw exceptions and provide error messages for errors that happen on the client side. Errors that happen on the robot server side is managed by the *Flexiv Elements* UI tablet, so you should also check if any error message popped up on the UI tablet. See :doc:`troubleshooting` for more details. Can I clear robot errors via RDK? ----------------------------------- Yes, you can use ``Robot::clearFault()`` to clear minor errors triggered by the robot software. However, if any critical error is triggered, a reboot is mandatory. In addition, based on the type of critical error, a recovery operation may be needed. See :doc:`troubleshooting` for more details. How can I access the external force on the end-effector? -------------------------------------------------------- Call ``flexiv::Robot::getRobotStates()`` to obtain the latest robot states data, which will be stored in the ``flexiv::RobotStates`` data struct, whose member variables ``extWrenchInTcp`` and ``extWrenchInBase`` will have the data you are looking for. How can I free-drive the robot when using RDK? ------------------------------------------------- See :ref:`freedrive`. I toggled the Auto/Manual slide switch on the motion bar, and now RDK is not working, how to solve this? --------------------------------------------------------------------------------------------------------- See :ref:`resume_RDK`. Where can I find the robot kinematics? --------------------------------------- See :ref:`URDF`.