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 +1,38 @@
+---
+name: Bug Report
+about: Report a bug to help us improve
+title: "[BUG] "
+type: Bug
+labels: bug
+assignees: bsoe-flexiv
+
+---
+
+## Version info
+
+- Sim Plugin: [e.g. v1.2]
+- OS: [e.g. Ubuntu 22.04, x86_64]
+
+## How urgent is this bug? Have you found any workarounds?
+
+On a scale of 1 to 10.
+
+## Describe the issue and expected behavior
+
+The issue is ...
+The correct behavior you expect is  ...
+
+## Steps to reproduce
+
+1. '....'
+2. '....'
+3. '....'
+4. See error
+
+## Screenshots
+
+If applicable, add screenshots to help explain your issue.
+
+## Additional context
+
+Add any other context about the issue.
@@ -0,0 +1,29 @@
+---
+name: Feature Request
+about: Suggest a new feature
+title: "[FEATURE] "
+type: Feature
+labels: enhancement
+assignees: bsoe-flexiv
+
+---
+
+## How urgent is this feature?
+
+On a scale of 1 to 10.
+
+## Is this feature related to a problem?
+
+This new feature is needed so that ... can be solved.
+
+## Describe the solution you'd like
+
+What you want to happen.
+
+## Describe alternatives you've considered
+
+Any alternative solutions or workarounds you've considered.
+
+## Additional context
+
+Add any other context or screenshots about this feature.
@@ -0,0 +1,25 @@
+---
+name: Question
+about: Ask a question related to Sim Plugin
+title: "[QUESTION] "
+type: Question
+labels: help wanted
+assignees: bsoe-flexiv
+
+---
+
+## There might already be an answer to your question
+
+Someone might have asked similar questions before, you can search in the [Issues](https://github.com/flexivrobotics/flexiv_sim_plugin/issues?q=type%3AQuestion) tab.
+
+## Not sure how to get started?
+
+You can take a look at [Isaac Sim Workspace](https://github.com/flexivrobotics/isaac_sim_ws) which uses this plugin to build the simulation workflow.
+
+## Is this related to a specific version of Sim Plugin?
+
+If yes, please specify.
+
+## Please describe your question
+
+Texts, screenshots, links, code blocks ...
@@ -0,0 +1,21 @@
+name: CMake
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build-ubuntu-22:
+    # GitHub-hosted Ubuntu 22.04 runner
+    runs-on: ubuntu-22.04
+    # Use shared steps
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps
@@ -0,0 +1,31 @@
+name: "Shared Build Steps"
+runs:
+  using: "composite"
+  # Note: working directory will be reset to the repo root for each new step
+  steps:
+    # Build and install all dependencies to RDK installation directory.
+    - name: Build and install dependencies
+      shell: bash
+      run: |
+        pwd
+        cd thirdparty
+        bash build_and_install_dependencies.sh ~/sim_plugin_install 4
+
+    # Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
+    - name: Build and install library
+      shell: bash
+      run: |
+        pwd
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/sim_plugin_install
+        cmake --build . --target install --config Release
+
+    # Find and link to flexiv_rdk library, then build all example programs.
+    - name: Build examples
+      shell: bash
+      run: |
+        pwd
+        cd example
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_PREFIX_PATH=~/sim_plugin_install
+        cmake --build . --config Release -j 4