Skip to content

README.md

Latest commit

 

History

History
152 lines (111 loc) · 5.13 KB

README.md

File metadata and controls

152 lines (111 loc) · 5.13 KB
Raw

Flexiv PDK (Python)

Python package for creating robotic applications using the Flexiv PDK. It provides the flexiv.pdk client and the generated gRPC message types for talking to a Flexiv PDK server.

The Flexiv PDK Manual is the main reference, with tutorials, every service, and the Python API. The source and examples are in flexiv_pdk.

Requirements

Install

Pick the option that matches what you have. Both leave you with an activated virtual environment that can import flexiv.pdk; afterwards continue to Verify your installation.

Option 1 — pre-built wheel (recommended for most users)

Install flexivpdk and its dependencies from PyPI:

python3 -m venv .venv
source .venv/bin/activate
pip install "flexivpdk==<version>"

Use the <version> of the flexiv_pdk release you are using, such as 1.0.0; it must match the server's.

Option 2 — from a source checkout

The SDK's gRPC stubs are generated from its .proto files and are not part of a bare checkout, so a helper script does the whole setup in one step — it creates a virtual environment, generates the stubs, and installs the SDK. From the root of a clone of flexiv_pdk:

cd python
source setup_venv.sh          # source, not bash — it activates the venv for you

Verify your installation

  1. Confirm the package imports:

    python -c "from flexiv.pdk import Client; import flexiv.pdk.workcell.workcell_service_pb2; print('flexiv.pdk OK')"

  2. Run a real example against a running PDK server (see examples/python for the full list and prerequisites):

    python examples/python/scene_example.py

Quick usage

The Client class creates and manages the gRPC service client stubs.

import grpc
from flexiv.pdk import Client
from flexiv.pdk.workcell.workcell_service_pb2 import NameRequest

def run_sample():
    with Client("localhost:50052") as client:
        try:
            res = client.workcell.stub.Exists(NameRequest(name="example_workcell"))
            print(f"Workcell exists: {res.exists}")
        except grpc.RpcError as e:
            print(f"Connection failed: {e}")

if __name__ == "__main__":
    run_sample()

A client works with a server of the same major and minor version. To check before doing anything else:

compatible, message = client.check_version()
if not compatible:
    raise SystemExit(message)

Command-line interface

Installing this package also provides pdk-scene, a terminal tool for inspecting and modifying a scene on a running server without writing any code:

pdk-scene --help          # list commands
pdk-scene object list     # e.g. list scene objects on the active workcell

Full guide: README_CLI.md.

Licensed services

Most services are free. Three require a license, one each:

Service License code
client.point_to_point_path point_to_point_path
client.surface_finish surface_finish
client.mesh_operation mesh_operation

A license is tied to the security chip in the computer running the server, so it needs no network at run time.

Calling one of those without a license returns PERMISSION_DENIED (code 5) in the response's status field, and status.message names the service and says what to do about it - the same check you already use for every other call. To find out before calling, or to install a license:

from flexiv.pdk.license.license_service_pb2 import ListRequest

response = client.license.stub.List(ListRequest())
for service in response.services:
    print(service.display_name, service.state, service.detail)

Buying a license moves two files: pdk-scene license identifier writes the one you email to Flexiv, and pdk-scene license install -f <file.lic> installs the one Flexiv sends back. From code, install it with the path Flexiv's file was saved at:

response = client.license.install_file("NEB-2026-0042.lic")
if response.status.code != 0:
    print(response.status.message)

The file is read on this machine and its contents sent over gRPC, so the server may be another host or a container. It takes effect without a restart. The pdk-scene license commands wrap the same service - see README_CLI.md.

Related docs