User Manual Overview

This manual guides you through installing, configuring, and using the Flexiv TDK (Teleoperation Development Kit) to build teleoperation applications over LAN or WAN.

Audience

• Application developers integrating teleoperation features
• Robotics engineers deploying Flexiv systems
• Researchers building custom haptic or robot-to-robot workflows

Prerequisites

Robot

• At least two Flexiv Rizon robots with FT sensors configured

Network Devices

• Network devices (e.g., Ethernet switch/router) with sufficient bandwidth and latency
• CAT 6 or CAT 7 Ethernet cables

User PC

• Ubuntu 22.04+ (x86_64 or aarch64)
• C++ toolchain: GCC ≥ 9.4, CMake ≥ 3.16.3
• Python 3.8/3.10/3.12 (for Python SDK usage)
• Network access to the robot and (for WAN) reliable time synchronization

Repository Layout

• include/: C++ headers
• example/: C++ example apps
• example_py/: Python example apps
• docs/doxygen/: Doxygen configuration and assets

Where to Start

• New to the SDK? Start with Quick Start (Python) or Quick Start (C++).
• Need hard real-time performance? See Real-Time Kernel.
• Deploying over WAN? See Time Sync (WAN).
• Looking for sample usage? See Examples.