Install for Python

Install the flexivpdk Python package. You need a running PDK server to connect to; see Set Up the PDK Server.

Note

The client must have the same major and minor version as the server. Replace <version> below with the version of the PDK release you are running, such as 1.0.0.

Requirements

Python 3.10 or newer.

The Python package is called flexivpdk and is imported as flexiv.pdk. Its runtime dependencies are grpcio, protobuf, numpy, scipy and click. Both install methods below fetch them.

Install PDK package from a wheel (recommended)

Install flexivpdk and its dependencies from PyPI:

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

Use the version of the PDK release you are using, such as 1.0.0; it must match the server’s.

Install PDK package from a source checkout

A source checkout does not contain the generated gRPC stubs (*_pb2.py). A helper script creates a virtual environment (.venv in the repository root), generates the stubs and installs the SDK in one step. Run it from the repository root with source so the environment stays active:

git clone https://github.com/flexivrobotics/flexiv_pdk.git
cd flexiv_pdk
source python/setup_venv.sh

Important

If you install from source, regenerate the stubs every time you pull new changes (bash python/generate_protos.sh). Stubs older than the server’s .proto files make the server return a bare gRPC INTERNAL error. See Troubleshooting.

Use the installed package

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

The examples are in the PDK repository, not in the wheel. With a wheel install, clone the repository first. Then, from the repository root, run an example against a server:

python examples/python/scene_example.py

See Verify with Example Programs for the other examples.