Verify with Example Programs
============================

Run some example programs to verify that everything is working.

Run an example C++ program
--------------------------

1. Compile example C++ programs following :ref:`link_rdk_cpp_lib`.
2. 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.
3. 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]

4. 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:

   .. code-block:: c

      {
      "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]
      }


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

.. _setup_and_run_python_rdk:


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.