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Python Examples

Runnable scripts that show how to use the flexiv.pdk Python package, one feature at a time. Each script creates its own workcell, so they can run in any order.

Before you start

  1. Install the Python package and activate its environment, as python/README.md describes.

  2. Set up and start the PDK server, as the repository README describes.

  3. Check that the two work together:

    pdk-scene version

Every example connects to localhost:50052. To use a server elsewhere, set PDK_SERVER_ADDR:

PDK_SERVER_ADDR="192.168.1.100:50052" python examples/python/scene_example.py

Run an example

From the root of the repository:

python examples/python/<example-name>.py

The examples

Scene and kinematics

No license or robot needed.

Example Shows how to
scene_example.py Build a workcell with objects and two robot systems facing each other
components_service_example.py Query the robots and components the PDK knows, and create a custom tool
system_kinematics_example.py Compute forward and inverse kinematics of a robot system
watch_scene_events_example.py Receive scene changes as they happen, by callback or by generator
numpy_conversion_example.py Convert between NumPy arrays and PDK messages. Needs no server

Point-to-point path

Needs a point_to_point_path license.

Example Shows how to
point_to_point_path_example.py Plan collision-free paths among objects, with different collision settings
system_pose_example.py Save a pose computed by forward kinematics, then plan a path to it by name

Surface finish

Needs a surface_finish license and the example mesh (see below).

Example Shows how to
mesh_toolpath_raster_example.py Create a raster tool path over a mesh
mesh_toolpath_sketch_example.py Create a sketch tool path over a mesh
linear_path_trajectory_generation_example.py Create a tool path, solve the robot motion along it, and generate its trajectory

Mesh operations

Needs a mesh_operation license and the example mesh (see below).

Example Shows how to
mesh_filter_example.py Filter a mesh
mesh_area_extraction_example.py Extract an area from a mesh

With a real robot

Needs a Flexiv robot with RDK remote mode enabled. Set serial_number in the script to your robot's.

Example Shows how to
system_setup_from_rdk_example.py Add a robot system to the scene from a connected robot's configuration
camera_example.py Add a camera, then save and list its images and point clouds
reconstruction_example.py Reconstruct the scene with a camera

The camera examples also need a camera enabled in Noema Edge's AIConsole. They use camera ID 9 on the robot's flange: change camera_id, and set the camera's parent to world for a camera that is not on the robot.

Copy the example mesh

The surface finish and mesh operation examples load plane_1m_10x10.obj from the server's user_data/meshes/ folder. On the server's computer, from the root of the repository:

mkdir -p ../flexiv_pdk_data/user_data/meshes
cp examples/assets/plane_1m_10x10.obj ../flexiv_pdk_data/user_data/meshes/

When an example fails

A licensed example run without its license prints a failure whose message names the license it needs. See Activate Licenses.

For anything else, read the server's log:

pdk-scene log --level warning