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 +1,30 @@
+# Flexiv Elements Studio Setup
+
+Flexiv Elements Studio runs the simulated robot controller. 
+Set it up once before running any external-simulator workspace.
+
+## Install Elements Studio on Ubuntu
+
+1. [Contact Flexiv](https://www.flexiv.com/contact) to obtain the installation package of Elements Studio.
+2. Extract the package to a non-root directory.
+3. Install Elements Studio:
+
+       bash setup_FlexivElements.sh
+
+4. Switch physics engine from the default built-in to external:
+
+       bash switch_physics_engine.sh
+
+   Select *External* when prompted.
+
+## Create a simulated robot in Elements Studio
+
+1. Start Flexiv Elements Studio from the application menu.
+2. In the Robot Connection window, select *Simulator*, and click *CREATE*.
+3. Choose "Create according to the selected robot type" and select one from the list, then click *CONFIRM*. A new simulated robot will be added to the simulator list.
+4. Toggle on the *Connect* button for the newly added one, then wait for loading.
+5. When loading is finished, you'll see a robot at its upright pose, with an "Exception" error at the bottom right corner. This is expected because the external simulator is not started yet. But if you see a normally operating robot, that again means you are running the wrong version of Elements Studio that only supports the built-in physics engine.
+6. To enable RDK, Click Settings → Remote Mode → Select a Mode → Ethernet. In the resulting popup window, restart the simulated robot.
+7. Toggle the virtual motion bar slider button to the "auto" position. In the resulting popup window, select "AUTO (REMOTE)".
+8. At the bottom of the window, click on the small robot icon with a "SIM" tag on it, then a small window will pop up, note down the displayed robot serial number.
+