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>
2026-10-12 17:08:43 +08:00
parent b903161113
commit f882c4309c
187 changed files with 22898 additions and 104 deletions
@@ -0,0 +1,34 @@
+name: CI-Cpp
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  ci-cpp:
+    name: CI-Cpp @ ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-22.04
+          - ubuntu-22.04-arm
+          - ubuntu-24.04
+          - ubuntu-24.04-arm
+          - macos-14
+          - windows-2022
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ./.github/workflows/shared_cpp_steps
@@ -0,0 +1,37 @@
+name: CI-Python
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: "true"
+
+jobs:
+  ci-python:
+    name: CI-Python @ ${{ matrix.os }} (${{ matrix.python-version }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-22.04
+          - ubuntu-22.04-arm
+          - ubuntu-24.04
+          - ubuntu-24.04-arm
+          - macos-14
+          - windows-2022
+        python-version:
+          - "3.10"
+          - "3.12"
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ./.github/workflows/shared_python_steps
+        with:
+          python-version: ${{ matrix.python-version }}
@@ -0,0 +1,50 @@
+name: "Shared Check Steps for C++"
+runs:
+  using: "composite"
+  # Note: working directory will be reset to the repo root for each new step
+  steps:
+    # Use a fixed CMake version
+    - name: Set up CMake
+      uses: jwlawson/actions-setup-cmake@v2
+      with:
+        cmake-version: '3.28.3'
+
+    # Build and install all dependencies to RDK installation directory.
+    - name: Build and install dependencies
+      shell: bash
+      run: |
+        cmake --version
+        cd thirdparty
+        bash build_and_install_dependencies.sh ~/rdk_install 8
+
+    # Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
+    - name: Build and install library
+      shell: bash
+      run: |
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+        cmake --build . --target install --config Release
+
+    # Find and link to flexiv_rdk library, then build all examples.
+    - name: Build examples
+      shell: bash
+      run: |
+        cd example
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
+        cmake --build . --config Release -j 8
+
+    # Find and link to flexiv_rdk library, then build all tests.
+    - name: Build tests
+      shell: bash
+      run: |
+        cd test
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
+        cmake --build . --config Release -j 8
+
+    - name: Run unit tests
+      shell: bash
+      run: |
+        cd test/build
+        ctest --output-on-failure
@@ -0,0 +1,41 @@
+name: "Shared Check Steps for Python"
+inputs:
+  python-version:
+    description: "Python version used for example compilation checks"
+    required: true
+runs:
+  using: "composite"
+  steps:
+    - name: Set up Python
+      uses: actions/setup-python@v6
+      with:
+        python-version: ${{ inputs.python-version }}
+
+    - name: Install latest flexivrdk
+      shell: bash
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install flexivrdk
+
+    - name: Byte-compile Python examples
+      shell: bash
+      run: |
+        python - <<'PY'
+        from pathlib import Path
+        import py_compile
+
+        root = Path('example_py')
+        files = sorted(
+            path for path in root.glob('*.py')
+            if path.name.startswith('basics') or path.name.startswith('intermediate')
+        )
+
+        for path in files:
+            py_compile.compile(str(path), doraise=True)
+            print(f'py_compile OK: {path}')
+        PY
+
+    - name: Run unit tests
+      shell: bash
+      run: |
+        python test/test_robot_constructor.py -v