Flexiv DRDK

Flexiv DRDK (Dual Robot Development Kit) is built on top of Flexiv RDK, with additional features tailored for a dual robot setup like simultaneous commanding, self-collision avoidance, bimanual primitives, etc.

Environment Compatibility

OS	Platform	C++ compiler kit	Python interpreter
Linux (Ubuntu 20.04+)	x86_64, arm64	GCC v9.4+	3.8, 3.10, 3.12

IMPORTANT: You might need to turn off your computer's firewall or whitelist the DRDK programs to be able to establish connection with the robot.

Quick Start - Python

Install the Python package

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

python3.x -m pip install numpy spdlog flexivrdk flexivdrdk

NOTE: replace 3.x with a specific Python version.

Use the installed Python package

After the flexivdrdk 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 DRDK:

python3.x
import flexivdrdk
robot_pair = flexivdrdk.RobotPair(["Rizon4-100001", "Rizon4-100002"])

The program will start searching for a pair of robots with serial numbers Rizon4-100001 for the left robot and Rizon4-100002 for the right robot, then exit after a couple of seconds if either of the specified robots is not found in the local network.

Run example Python scripts

To run an example Python script in this repo:

cd flexiv_drdk/example_py
python3.x <example_name>.py [left_robot_sn] [right_robot_sn]

For example:

python3.10 ./basics1_display_robot_states.py Rizon4-100001 Rizon4-100002

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
   

Install the C++ library

The following steps are identical on all supported platforms.

1. Choose a directory for installing the C++ library of DRDK and its dependencies. This directory can be under system path or not, depending on whether you want DRDK to be globally discoverable by CMake. For example, a new folder named drdk_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_drdk/thirdparty
   bash build_and_install_dependencies.sh ~/drdk_install
   

3. In a new Terminal, configure the flexiv_drdk CMake project:

   cd flexiv_drdk
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=~/drdk_install
   

   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_drdk C++ library to CMAKE_INSTALL_PREFIX path, which may or may not be globally discoverable by CMake depending on the location:

   cd flexiv_drdk/build
   cmake --build . --target install --config Release
   

Use the installed C++ library

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

cd flexiv_drdk/example
mkdir build && cd build
cmake .. -DCMAKE_PREFIX_PATH=~/drdk_install
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 DRDK 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_drdk/example/build
./<example_name> [left_robot_sn] [right_robot_sn]

For example:

./basics1_display_robot_states Rizon4-100001 Rizon4-100002

API Documentation

The API documentation can be generated using Doxygen. For example, on Linux:

sudo apt install doxygen-latex graphviz
cd flexiv_drdk
doxygen doc/Doxyfile.in

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