Verify with Example Programs

Run some example programs to verify that everything is working.

Run an example C++ program

Compile example C++ programs following Link to installed library from a user program.
Release (pull up) E-stop on the motion bar. The robot will have no action because an enabling method must be called to actually enable the robot.
Run the most basic example program basics1_display_robot_states to check the RDK connection can be established and the robot is normally operational. This example program will first enable the robot, then hold the robot while printing out all received robot states. For Linux and macOS:
```
cd flexiv_rdk/example/build
./basics1_display_robot_states [robot_serial_number]
```

Note

robot_serial_number is imprinted near the base of the robot. When providing it to the program, replace space with dash or underscore, for example, Rizon4s-123456.

sudo is only required if the real-time scheduler API flexiv::rdk::Scheduler is used.

For Windows:
cd flexiv_rdk\example\build\Release
basics1_display_robot_states.exe [robot_serial_number]

The robot will be enabled and release the joint brakes, which will make some audible crispy sound. After a few seconds, when the enabling process is done and the robot becomes operational, robot states data will be obtained from the server and gets printed in the Terminal. An excerpt of the output is as follows:

{
"q": [0.000, -0.712, -0.000, 1.576, 0.002, 0.696, 0.000],
"theta": [0.000, -0.710, -0.000, 1.575, 0.001, 0.697, 0.000],
"dq": [-0.000, -0.000, 0.000, -0.000, -0.000, -0.000, -0.000],
"dtheta": [0.000, -0.000, -0.000, -0.000, -0.000, -0.000, 0.000],
"tau": [0.000, 46.733, 1.100, -19.021, -2.010, 2.292, -0.000],
"tau_des": [-0.000, 0.000, 0.000, -0.000, 0.000, -0.000, -0.000],
"tau_dot": [0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000],
"tau_ext": [0.000, -0.000, 0.000, 0.000, 0.000, -0.000, 0.000],
"tcp_pose": [0.683, -0.110, 0.275, -0.010, 0.001, 1.000, 0.000],
"tcp_pose_d": [0.000, 0.000, 0.000, 1.000, 0.000, 0.000, 0.000],
"tcp_velocity": [0.000, -0.000, 0.000, -0.000, -0.000, 0.000],
"flange_pose": [0.683, -0.110, 0.275, -0.010, 0.001, 1.000, 0.000],
"FT_sensor_raw_reading": [0.000, 0.000, 0.000, 0.000, 0.000, 0.000],
"F_ext_tcp_frame": [0.000, 0.000, 0.000, 0.000, -0.000, 0.000],
"F_ext_world_frame": [-0.000, 0.000, -0.000, -0.000, -0.000, -0.000]
}

To close the running example program, simply press Ctrl+C.

Run an example Python program

Running en example Python program is similar to running the C++ example program, but without the need for any compilation:

cd flexiv_rdk/example_py
python3 basics1_display_robot_states.py [robot_serial_number]

Note

Replace python3 with python3.x to explicitly invoke a specific version of Python.