.. test documentation master file, created by
   sphinx-quickstart on Wed Mar 31 14:33:26 2021.
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.

Flexiv RDK Manual
==========================================

`[RDK Home Page] <https://rdk.flexiv.com/>`_

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.
 
All functionalities of Flexiv RDK are packed into the `[flexiv_rdk] repository <https://github.com/flexivrobotics/flexiv_rdk/>`_.

.. important::
   Before using the robot with Flexiv RDK, you must carefully read through all documents shipped with the robot 
   as well as this manual, and strictly follow **all safety instructions** detailed in these documents.


.. _key_features:

Key features
--------------

+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Feature                   | Summary                                                                                                             |
+===========================+=====================================================================================================================+
| RT operations             | The robot can execute low-level commands like joint torques, joint positions, Cartesian pose, etc. at 1kHz.         |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| NRT operations            | The robot can execute high-level commands like plans, primitives, digital IO, etc. as well as NRT motion commands.  |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| RT states feedback        | The robot sends back states data at 1kHz no matter what operation mode is being used.                               |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Gripper control           | Interface with any gripper supported by Flexiv.                                                                     |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Timeliness monitor        | When in a RT operation mode, the robot server automatically checks if the user command arrives in time at 1kHz.     |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Integrated scheduler      | User tasks added to this scheduler are executed periodically with adjustable execution interval and priority.       |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Integrated dynamics model | Provide users with run-time access to important robot dynamics data like Jacobian, mass matrix, gravity force, etc. |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Portable libraries        | Self-contained C++ and Python libraries for various OS and CPU platforms.                                           |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Example pool              | Plenty of informative examples covering almost every aspect of Flexiv RDK to help users quickly get started.        |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Robot description         | Kinematics-only URDF and 3D mesh files of the robot for visualizers and simulators.                                 |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| Cross-platform            | Besides Linux, RDK also supports Windows and macOS.                                                                 |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+
| ARM processor support     | Besides x86_64, RDK also supports arm64 processors.                                                                 |
+---------------------------+---------------------------------------------------------------------------------------------------------------------+

| (RT: real-time, NRT: non-real-time)


Table of contents
-----------------

.. toctree::
   :maxdepth: 2

   overview
   system_setup
   getting_started
   rdk_library
   ros2_packages
   primitives
   troubleshooting
   faq
   release_notes