Flexiv Composer Studio

A scene-authoring and scan-path editing tool for Flexiv PDK workcells. It provides a visual editor (Vue 3 + Three.js) backed by a FastAPI service that talks to a running PDK server over gRPC to set up targets and plan point-to-point/linear/raster/sketch toolpaths on real or simulated manipulators.

Repository layout

.
├── app/
│   ├── backend/           FastAPI server (Python)
│   │   ├── nebula_service_modules/
│   │   └── web_routes/
│   ├── frontend/          Vue 3 + Vite single-page app
│   │   └── src/components/{setups,controls,tools,tree,editors,dialogs}
│   ├── install_dependencies.sh  Install the backend's Python packages
│   └── run_app.sh          Build frontend, launch backend, open browser
└── examples/               Standalone scripts demonstrating the PDK gRPC API

The gRPC/protobuf API is provided entirely by the flexivpdk package (import root flexiv.pdk); this repo does not carry its own copy of the .proto definitions or generated stubs.

Requirements

• Python 3.9+
• Node.js 18+ / npm
• A reachable PDK server (gRPC, defaults to localhost:50052)
• Flexiv PDK (package flexivpdk, import root flexiv.pdk) — a prerequisite installed separately (see Setup below). It provides the flexiv.pdk runtime used by the backend and the pdk-scene command-line tool that is useful alongside this GUI.

Setup

Install the backend dependencies, Flexiv RDK and Flexiv PDK into the active Python environment:

cd app
bash install_dependencies.sh

That installs the newest flexivpdk. To match the server of an older Flexiv PDK release, name its version, such as 1.0.0:

bash install_dependencies.sh --pdk-version <version>

--test-pypi pdk takes a package Flexiv support published on test PyPI for you, by its exact version.

--test-pypi takes pdk, rdk or pdk,rdk. Run with --help for all options.

Install frontend dependencies:

cd app/frontend
npm install

Running in development

cd app
./run_app.sh

This builds the frontend, starts the backend at http://localhost:8011, and opens it in your default browser. To iterate on the frontend with hot reload instead, run npm run dev inside frontend/ and the backend separately with python3 backend/web_server.py.

Examples

examples/ contains standalone scripts (example_system_pose.py, example_mesh_toolpath_raster.py, etc.) that exercise the PDK gRPC API directly — useful references for the service calls the backend wraps.