Verify with Example Programs

The Composer Studio repository ships standalone Python scripts in examples/. They call the PDK server directly, without Composer Studio, and show the PDK calls behind each Composer Studio feature. They are also a quick way to check that the server and your licenses work.

Run them from the repository root, with the virtual environment from Install Composer Studio active and a server running:

python3 examples/example_workcell_service.py

Load the workcell they create in Composer Studio (Workcells) to see the result.

Important

The examples work in a workcell called example_workcell, and most of them delete it first. Do not run them against a workcell of that name that you want to keep.

The examples connect to localhost:50052. To use another server, edit target near the top of main().

Script	Shows	Needs
`example_workcell_service.py`	List, delete and create workcells. Workcells	server
`example_scene_service.py`	A scene with a robot system and objects. Scene Objects	server
`example_load_workcell_system_scene.py`	Load `example_workcell` and print its systems, joint limits and serial number.	an existing `example_workcell`
`example_component_services.py`	A robot system, and the component catalogue. Systems	server
`example_system_setup_from_rdk.py`	Add a system from a connected robot, like Sync from Controller. Systems	real robot; edit `serial_number`
`example_fk_ik.py`	Forward and inverse kinematics. Targets	server
`example_system_pose.py`	Save poses as targets and plan between them. PTP Trajectories	`point_to_point_path` license
`example_point_to_point_path.py`	PTP planning with several collision configurations. Collision Configurations	`point_to_point_path` license
`example_mesh_toolpath_sketch.py`	A sketch tool path on a mesh. Tool Paths	`surface_finish` license, mesh file
`example_mesh_toolpath_raster.py`	A raster tool path on a mesh. Tool Paths	`surface_finish` license, mesh file
`example_linear_path_trajectory_generation.py`	A path, robot motion with velocity, acceleration and force, and an RCA trajectory file. Linear Path Trajectories	`surface_finish` license, mesh file
`example_mesh_filter.py`	The mesh filter. Scene Objects	`mesh_operation` license, mesh file
`example_mesh_area_extraction.py`	Area extraction from a mesh. Areas	`mesh_operation` license, mesh file
`example_camera.py`	A camera on a robot; save its images and point cloud. Cameras	real robot and camera; edit the serial number and camera ID
`example_reconstruction.py`	Reconstruct the scene from camera data.	real robot and camera; edit the serial number and camera ID

Mesh file

The examples marked mesh file load a 1 m × 1 m plane from /home/flexiv/user_data/meshes/plane_1m_10x10.obj. The path is read on the server: for a server running in a container, it is the path inside the container, which is user_data/meshes/ in the server’s release folder on the host.

The mesh is not in the Composer Studio repository. Copy it from examples/assets/plane_1m_10x10.obj in the Flexiv PDK repository.