Flexiv TDK

Flexiv TDK (Teleoperation Development Kit) is an SDK for developing customized robot-robot or device-robot teleoperation applications with Flexiv's adaptive robots. It features synchronized motions that are force-guided using high-fidelity perceptual feedback and supports both LAN (Local Area Network) and WAN (Wide Area Network, i.e. Internet) connections.

Compatibility

Supported OS	Supported processor	Supported language	Required compiler kit
Linux (Ubuntu 20.04/22.04)	x86_64	C++	build-essential

Quick Start

The TDK library is packed into a unified modern CMake project named flexiv_tdk, which can be configured and installed using CMake on all supported OS.

Install on Linux

1. In a new Terminal, install compiler kit, CMake (with GUI), Python interpreter, and Python package manager:

   sudo apt install build-essential cmake cmake-qt-gui -y
   

2. Choose a directory for installing flexiv_tdk library and all its dependencies. For example, a new folder named tdk_install under the home directory.

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

   cd flexiv_tdk/thirdparty
   bash build_and_install_dependencies.sh ~/tdk_install
   

   NOTE: Internet connection is required for this step.

4. In a new Terminal, configure flexiv_tdk library as a CMake project:

   cd flexiv_tdk
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
   

   NOTE: -D followed by CMAKE_INSTALL_PREFIX is a CMake parameter specifying the path of the chosen installation directory. Alternatively, this configuration step can be done using CMake GUI.

5. Install flexiv_tdk library:

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

   The library will be installed to CMAKE_INSTALL_PREFIX path, which may or may not be globally discoverable by CMake.

Link to installed library from a user program

After the TDK library is installed, it can be found as a CMake target and linked to from other CMake projects. Using the provided examples project for instance::

cd flexiv_tdk/example
mkdir build && cd build
cmake .. -DCMAKE_PREFIX_PATH=~/tdk_install
cmake --build . --config Release -j 4

NOTE: -D followed by CMAKE_INSTALL_PREFIX tells the user project's CMake where to find the installed TDK library. The instruction above applies to all supported OS.

Run example programs

To run a compiled example program:

cd flexiv_tdk/example/build
sudo ./<program_name> [arguments]

The exact arguments required by an example program are documented in the program's code. Also, sudo is required to grant root permissions.

API Documentation

The API documentation can be generated using doxygen:

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

The generated API documentation is under flexiv_tdk/doc/html/ directory. Open any html file with your browser to view it.