Welcome to the BestMan_Flexiv repository, a codebase dedicated to the Flexiv robotic arm.

🔥 News

• [2024-12-18] We update API names, such as "joint angles" -> "joint values", and revise some function "joints_to_cartesian", "cartesian_to_joints".

🏠 Prerequisites

Note: We recommand Ubuntu 22.04 and python version deault to 3.8.

• Ubuntu 22.04
• Conda
  • Python 3.8

💻 Installation

• Pull the repository We provide the installation guide here. You can install locally or use docker and verify the installation easily.

🔎 Project Structure

Generate and view the project structure:

doxygen Doxyfile
firefox /home/$(whoami)/BestMan_Flexiv/docs/html/index.html

👨‍💻 Basic Examples

☘️ Test Robotiq Gripper

cd /home/$(whoami)/BestMan_Flexiv/Examples
python open_gripper.py 192.168.2.100 192.168.2.108 20

📧 Contact Information

If you have any questions or need further assistance, please feel free to reach out via email:

• dingyan at pjlab.org.cn
• zhaxizhuoma at pjlab.org.cn

🤝 Reference

• IKPy’s documentation
• Flexiv RDK APIs