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>

thirdparty/flexiv_sim_plugin.cloned.bak/example/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16.3)
+project(flexiv_sim_plugin-examples)
+
+# Show verbose build info
+SET(CMAKE_VERBOSE_MAKEFILE ON)
+
+message("OS: ${CMAKE_SYSTEM_NAME}")
+message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+
+# Configure build type
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
+endif()
+
+# Minimum example list for all OS
+set(EXAMPLE_LIST
+  mock_external_simulator
+)
+
+# Find flexiv_sim_plugin INTERFACE library
+find_package(flexiv_sim_plugin REQUIRED)
+
+# Build all selected examples
+foreach(example ${EXAMPLE_LIST})
+  add_executable(${example} ${example}.cpp)
+  target_link_libraries(${example} flexiv::flexiv_sim_plugin)
+
+  # C++17 required
+  set_target_properties(${example} PROPERTIES
+    CXX_STANDARD 17
+    CXX_STANDARD_REQUIRED ON)
+endforeach()

thirdparty/flexiv_sim_plugin.cloned.bak/example/mock_external_simulator.cpp

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+/**
+ * @example mock_external_simulator.cpp
+ * A simple example demonstrating how to use Flexiv Sim Plugin in an external simulator. Please
+ * refer to README on how to run this example.
+ * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved.
+ * @author Flexiv
+ */
+
+#include <flexiv/sim_plugin/user_node.hpp>
+#include <spdlog/spdlog.h>
+
+#include <math.h>
+#include <iostream>
+#include <iomanip>
+#include <thread>
+
+using namespace flexiv;
+
+namespace {
+// Frequency of the external simulator's physics loop [Hz]
+constexpr unsigned int kPhysicsFreq = 2000;
+// Period of the external simulator's physics loop [sec]
+constexpr double kPhysicsPeriod = 1.0 / kPhysicsFreq;
+
+// Sine-sweep trajectory amplitude and frequency
+constexpr double kSineAmp = 0.035;
+constexpr double kSineFreq = 0.3;
+
+// Initial joint positions when the robot is at home posture [rad]
+const std::vector<float> kInitQ = {0.0, -0.698132, 0.0, 1.5708, 0.0, 0.698132, 0.0};
+
+// Joint degrees of freedom
+constexpr size_t kJointDof = 7;
+
+// Servo cycle of the physics loop
+unsigned int g_servo_cycle = 0;
+}
+
+/** @brief Print program usage help */
+void PrintHelp()
+{
+    // clang-format off
+    std::cout << "Required arguments: [robot_sn]" << std::endl;
+    std::cout << "    robot_sn: Serial number of the robot in Flexiv Elements Studio to connect. Remove any space, e.g. Rizon4s-123456" << std::endl;
+    std::cout << "Optional arguments: None" << std::endl;
+    std::cout << std::endl;
+    // clang-format on
+}
+
+/** @brief Step once the external simulator's physics loop. */
+void StepPhysics(sim_plugin::UserNode& user_node)
+{
+    // Record time point at the beginning of this cycle
+    auto current_time = std::chrono::steady_clock::now();
+
+    // Step 1: obtain robot states from the external simulator
+    // =============================================================================================
+    // Mocked robot states
+    sim_plugin::SimRobotStates robot_states;
+    robot_states.q.resize(kJointDof);
+    robot_states.dq.resize(kJointDof);
+
+    // Set and increment servo cycle per physics step
+    robot_states.servo_cycle = g_servo_cycle++;
+
+    // Set joint positions to sine waves
+    for (size_t i = 0; i < kInitQ.size(); i++) {
+        robot_states.q[i]
+            = kInitQ[i] + kSineAmp * sin(2 * M_PI * kSineFreq * g_servo_cycle * kPhysicsPeriod);
+    }
+
+    // Set joint velocities to corresponding cosine waves
+    for (size_t i = 0; i < kInitQ.size(); i++) {
+        robot_states.dq[i] = kSineAmp * 2 * M_PI * kSineFreq
+                             * cos(2 * M_PI * kSineFreq * g_servo_cycle * kPhysicsPeriod);
+    }
+
+    // Step 2: send robot states to Flexiv Elements Studio
+    // =============================================================================================
+    if (!user_node.SendRobotStates(robot_states)) {
+        spdlog::error("Failed to send robot states data");
+    }
+
+    // Step 3: wait for Elements Studio to calculate and deliver new robot commands
+    // =============================================================================================
+    // Must set a timeout value to avoid deadlock
+    constexpr unsigned int kWaitTimeoutMs = 100;
+    if (!user_node.WaitForRobotCommands(kWaitTimeoutMs)) {
+        spdlog::error("WaitForRobotCommands() timeout");
+    }
+
+    // Step 4: apply joint torques command to the simulated robot in the external simulator
+    // =============================================================================================
+    auto target_joint_torques = user_node.robot_commands().target_drives;
+    // Call the external simulator's API to apply the target joint torques
+
+    // End the current physics step with kPhysicsPeriod as the total loop period
+    auto loop_period_us = static_cast<unsigned int>(kPhysicsPeriod * 1'000'000);
+    std::this_thread::sleep_until(current_time + std::chrono::microseconds(loop_period_us));
+}
+
+int main(int argc, char* argv[])
+{
+    // Program Setup
+    // =============================================================================================
+    // Parse parameters
+    if (argc < 2) {
+        PrintHelp();
+        return 1;
+    }
+    // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
+    std::string robot_sn = argv[1];
+
+    // Print description
+    spdlog::info(
+        ">>> Tutorial description <<<\nA simple example demonstrating how to use Flexiv Sim Plugin "
+        "in an external simulator.\n");
+
+    // Create user node
+    sim_plugin::UserNode user_node(robot_sn);
+
+    // Wait for connected
+    while (!user_node.connected()) {
+        spdlog::warn("Waiting for connection with Flexiv Elements Studio");
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+    spdlog::info("Connected with Flexiv Elements Studio, starting mocked physics loop");
+
+    // Run mocked physics loop
+    while (user_node.connected()) {
+        StepPhysics(user_node);
+    }
+
+    return 0;
+}