Key Features
================

Flexiv RDK is feature-rich and provides a wide variety of functionalities. Below is a list of key features and descriptions. Keep exploring to harness the full potential of RDK.

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| 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 control mode is being used.                                                        |
+--------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------+
| Gripper control                | Control any supported gripper connected to the robot.                                                                                      |
+--------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------+
| Device interface               | Enable, disable, and send generic commands to any supported device connected to the robot.                                                 |
+--------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------+
| Tool interface                 | Add, remove, edit, switch, and get parameters of robot end-effector tools.                                                                 |
+--------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------+
| Timeliness monitor             | When in a RT control mode, the robot server automatically checks if the user command arrives in time at 1kHz.                              |
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| Unix real-time scheduler       | User tasks added to this scheduler are executed periodically with adjustable execution interval and priority.                              |
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| Kinematics and dynamics engine | Provide users with run-time access to important robot kinematics and dynamics data like Jacobian, mass matrix, gravity, reachability, etc. |
+--------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------+
| Portable libraries             | Self-contained C++ and Python libraries for various OS and CPU platforms, compatible with other third-party libraries.                     |
+--------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------+
| Example pool                   | Plenty of informative and instructive examples covering almost every aspect of Flexiv RDK to help users get started quickly.               |
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| Robot description              | Kinematics-only URDF and 3D mesh files of the robot for visualizers and simulators.                                                        |
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| Cross-platform                 | Besides Linux, RDK also supports Windows and macOS.                                                                                        |
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| ARM processor support          | Besides x86_64, RDK also supports arm64 processors.                                                                                        |
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| (RT: real-time, NRT: non-real-time)