克隆下来必须带上正在用的视觉权重和本机 site.yaml，否则感知只能指到一台机器上的路径，别人起不来。
顶视迁臂改走厂家 MoveL，D405 框心对准后再对孔；夹爪停在 caught 时 open 不再把相同目标当成已经张开，init 会真的回零。 Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
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---
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name: Bug Report
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about: Report a bug to help us improve
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title: "[BUG] "
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type: Bug
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labels: bug
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assignees: pzhu-flexiv
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---
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## Version info
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- RDK: [e.g. v1.5]
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- Robot software: [e.g. v3.7]
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- OS: [e.g. Ubuntu 22.04, x86_64]
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## How urgent is this bug? Have you found any workarounds?
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On a scale of 1 to 10.
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## Describe the issue and expected behavior
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The issue is ...
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The correct behavior you expect is ...
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## Steps to reproduce
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1. '....'
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2. '....'
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3. '....'
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4. See error
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## Screenshots
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If applicable, add screenshots to help explain your issue.
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## Additional context
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Add any other context about the issue.
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---
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name: Feature Request
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about: Suggest a new feature
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title: "[FEATURE] "
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type: Feature
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labels: enhancement
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assignees: pzhu-flexiv
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---
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## How urgent is this feature?
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On a scale of 1 to 10.
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## Is this feature request related to a problem?
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This new feature is needed so that ... can be solved.
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## Describe the solution you'd like
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What you want to happen.
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## Describe alternatives you've considered
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Any alternative solutions or workarounds you've considered.
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## Additional context
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Add any other context or screenshots about this feature.
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---
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name: Question
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about: Ask a question related to RDK
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title: "[QUESTION] "
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type: Question
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labels: help wanted
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assignees: [pzhu-flexiv, gavin-flexiv, zlin-flexiv, yunhong-flexiv, Aathitian-flexiv, eltonsi-flexiv]
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---
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## There might already be an answer to your question
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Did you know you can find answers to most questions related to RDK in the [manual](https://www.flexiv.com/software/rdk/manual/index.html)? Just search for keywords using the "Search docs" function.
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Also, someone might have asked similar questions before, you can search in the [Issues](https://github.com/flexivrobotics/flexiv_rdk/issues?q=type%3AQuestion) tab.
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## Looking for more information about certain APIs?
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You can first check out [API Overview](https://www.flexiv.com/software/rdk/manual/api_overview.html) from the manual, then dive into the detailed [API documentation](https://www.flexiv.com/software/rdk/api/index.html). See below if you want to learn more about how to use an API.
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## Not sure how to get started and write a working RDK program?
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You can take a look at the [C++ examples](https://github.com/flexivrobotics/flexiv_rdk/tree/main/example) or [Python examples](https://github.com/flexivrobotics/flexiv_rdk/tree/main/example_py) to get started.
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## Is this related to a specific version of RDK?
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If yes, please specify.
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## What is your country or region?
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Please provide your country or region. This helps us determine the most appropriate issue assignees.
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## Please describe your question
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Texts, screenshots, links, code blocks ...
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name: CI-Cpp
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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workflow_dispatch:
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permissions:
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contents: read
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env:
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FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
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# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
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BUILD_TYPE: Release
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jobs:
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ci-cpp:
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name: CI-Cpp @ ${{ matrix.os }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os:
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- ubuntu-22.04
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- ubuntu-22.04-arm
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- ubuntu-24.04
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- ubuntu-24.04-arm
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- macos-14
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- windows-2022
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steps:
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- uses: actions/checkout@v6
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- uses: ./.github/workflows/shared_cpp_steps
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name: CI-Python
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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workflow_dispatch:
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permissions:
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contents: read
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env:
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FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
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jobs:
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ci-python:
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name: CI-Python @ ${{ matrix.os }} (${{ matrix.python-version }})
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os:
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- ubuntu-22.04
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- ubuntu-22.04-arm
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- ubuntu-24.04
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- ubuntu-24.04-arm
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- macos-14
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- windows-2022
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python-version:
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- "3.10"
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- "3.12"
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steps:
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- uses: actions/checkout@v6
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- uses: ./.github/workflows/shared_python_steps
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with:
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python-version: ${{ matrix.python-version }}
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name: "Shared Check Steps for C++"
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runs:
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using: "composite"
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# Note: working directory will be reset to the repo root for each new step
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steps:
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# Use a fixed CMake version
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- name: Set up CMake
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uses: jwlawson/actions-setup-cmake@v2
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with:
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cmake-version: '3.28.3'
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# Build and install all dependencies to RDK installation directory.
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- name: Build and install dependencies
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shell: bash
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run: |
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cmake --version
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cd thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install 8
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# Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
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- name: Build and install library
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shell: bash
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run: |
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --target install --config Release
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# Find and link to flexiv_rdk library, then build all examples.
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- name: Build examples
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shell: bash
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run: |
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cd example
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mkdir -p build && cd build
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cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
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cmake --build . --config Release -j 8
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# Find and link to flexiv_rdk library, then build all tests.
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- name: Build tests
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shell: bash
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run: |
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cd test
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mkdir -p build && cd build
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cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
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cmake --build . --config Release -j 8
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- name: Run unit tests
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shell: bash
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run: |
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cd test/build
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ctest --output-on-failure
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name: "Shared Check Steps for Python"
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inputs:
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python-version:
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description: "Python version used for example compilation checks"
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required: true
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runs:
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using: "composite"
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steps:
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- name: Set up Python
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uses: actions/setup-python@v6
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with:
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python-version: ${{ inputs.python-version }}
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- name: Install latest flexivrdk
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shell: bash
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run: |
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python -m pip install --upgrade pip
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python -m pip install flexivrdk
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- name: Byte-compile Python examples
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shell: bash
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run: |
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python - <<'PY'
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from pathlib import Path
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import py_compile
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root = Path('example_py')
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files = sorted(
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path for path in root.glob('*.py')
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if path.name.startswith('basics') or path.name.startswith('intermediate')
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)
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for path in files:
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py_compile.compile(str(path), doraise=True)
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print(f'py_compile OK: {path}')
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PY
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- name: Run unit tests
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shell: bash
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run: |
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python test/test_robot_constructor.py -v
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Reference in New Issue
Block a user