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Merge pull request #19 from lbr-stack/dev-doc
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‎.github/CONTRIBUTING.md

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@@ -3,18 +3,18 @@ The [LBR-Stack](https://github.com/lbr-stack/) thrives to build a friendly commu
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We **encourage** everyone to open issues for questions / problems / features. For additional information, we would like to provide some links below.
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### Knowledge Sources
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- [Open issues](https://github.com/lbr-stack/pyFRI/issues)
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- [Closed issues](https://github.com/lbr-stack/pyFRI/issues?q=is%3Aissue+is%3Aclosed)
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- [Open issues](https://github.com/lbr-stack/pyfri/issues)
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- [Closed issues](https://github.com/lbr-stack/pyfri/issues?q=is%3Aissue+is%3Aclosed)
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## Contributing
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### pyFRI
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### pyfri
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Contributions are vital to this project. If you want to contribute a feature / fix proceed as follows
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1. Open an issue:
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- Explain the issue and your solution
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- Request a new branch: `dev-feature`, e.g. `dev-my-new-demo`
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2. Fork this repository
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3. Create a [pull request](https://github.com/lbr-stack/pyFRI/pulls) against `dev-<feature>`
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3. Create a [pull request](https://github.com/lbr-stack/pyfri/pulls) against `dev-<feature>`
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### New FRI version
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Refer [README](https://github.com/lbr-stack/fri#contributing) for instructions.

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.16.3)
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project(_pyFRI)
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project(_pyfri)
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include(FetchContent)
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add_subdirectory(pybind)
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pybind11_add_module(_pyFRI ${CMAKE_CURRENT_SOURCE_DIR}/pyFRI/src/wrapper.cpp)
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pybind11_add_module(_pyfri ${CMAKE_CURRENT_SOURCE_DIR}/pyfri/src/wrapper.cpp)
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target_include_directories(
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_pyFRI
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_pyfri
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/pyFRI/src
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${CMAKE_CURRENT_SOURCE_DIR}/pyfri/src
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)
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target_link_libraries(_pyFRI PRIVATE FRIClient)
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target_link_libraries(_pyfri PRIVATE FRIClient)

‎CODE_OF_CONDUCT.md

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Instances of abusive, harassing, or otherwise unacceptable behavior may be
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reported to the community leaders responsible for enforcement at
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https://github.com/lbr-stack/pyFRI/issues.
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https://github.com/lbr-stack/pyfri/issues.
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All complaints will be reviewed and investigated promptly and fairly.
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All community leaders are obligated to respect the privacy and security of the

‎README.md

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# pyFRI
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# pyfri
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[![License](https://img.shields.io/github/license/lbr-stack/pyFRI)](https://github.com/lbr-stack/pyFRI/tree/main?tab=Apache-2.0-1-ov-file#readme)
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[![Build](https://github.com/lbr-stack/pyfri/actions/workflows/build.yaml/badge.svg)](https://github.com/lbr-stack/pyfri/actions/workflows/build.yaml)
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[![License](https://img.shields.io/github/license/lbr-stack/pyfri)](https://github.com/lbr-stack/pyfri/tree/main?tab=Apache-2.0-1-ov-file#readme)
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[![JOSS](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef/status.svg)](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef)
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[![Code Style: Black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
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KUKA Fast Robot Interface Python SDK.
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The code in this repository, provides Python bindings for the FRI Client SDK C++.
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The code in this repository, provides Python bindings for the FRI Client SDK C++ through [pybind11](https://github.com/pybind/pybind11).
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The interface has been designed to be as similar as possible to the documentation provided by KUKA.
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There is one difference users of the Python bindings should be aware.
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In Python, the equivalent code is as follows.
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```python
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import pyFRI as fri
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import pyfri as fri
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# ..setup client..
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See the [examples](examples/).
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# Important notice
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**THIS IS NOT A KUKA PRODUCT.**
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[@cmower](https://github.com/cmower) and [@mhubii](https://github.com/mhubii) are not affiliated with KUKA.
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# Support
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The following versions of FRI are currently supported:
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* 1.15
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* 2.5
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Note, whilst FRI version 2.5 is supported some functionality is not.
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Currently, FRI Cartesian Overlay is not supported by FRI-Client-SDK_Python.
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If you have a different version, please consider [forking](https://github.com/lbr-stack/pyFRI/fork) and [submitting a pull request](https://github.com/lbr-stack/pyFRI/pulls).
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# Install
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## Quickstart
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1. Clone repository (make sure you include `--recursive`):
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```shell
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git clone --recursive https://github.com/lbr-stack/pyFRI.git
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git clone --recursive https://github.com/lbr-stack/pyfri.git
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```
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2. Change directory:
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```shell
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cd pyFRI
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cd pyfri
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```
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3. Install:
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```shell
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export FRI_CLIENT_VERSION=1.15
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pip3 install .
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```
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## Upgrading/switching between FRI Versions
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If you upgrade your FRI version or want to switch between them, you need to manually remove the `build/` directory before running `pip install`.
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# Usage
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## Data types
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You can pass NumPy arrays to the "set" methods (e.g. `setJointPosition`) in order to command the robot.
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However, you **must** ensure the format of the array is correct.
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Arrays that have a `dtype` of `np.float32` are the only ones that can be accepted.
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See how the commands are set in the the examples.
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## Collecting data from the robot
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We provide additional functionality to the LBR client application class that enables data collection to a text file.
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In Python, simply add the following
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```python
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app = fri.ClientApplication(client)
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app.collect_data(file_name)
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```
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The string `file_name` should contain the file name for the data file.
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We use the comma-separated values format for the data file, and so the file name should end with the extension `.csv` - *note*, if this isn't the case then `.csv` is automatically appended to the given file name.
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The columns in the recorded csv file are as follows:
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* `index`: the index of the recorded data, starts at 0, and is incremented by 1 at each call to the `step` method.
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* `time`: the time of the command, starts at 0.0, then is incremented by the sample time at each call to the `step` method.
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* `record_time_nsec`: the epoch time collected when the data in the current time step is recorded.
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* `tsec`: controller time as specified by the FRI in seconds. See FRI documentation for `getTimestampSec`.
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* `tnsec`: controller time as specified by the FRI in nanoseconds. See FRI documentation for `getTimestampNanoSec`.
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* `mp1, ..., mp7`: The measured joint position for the robot.
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* `ip1, ..., ip7`: The ipo joint position for the robot.
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* `mt1, ..., mt7`: The measured torque for the robot.
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* `et1, ..., et7`: The external torque for the robot.
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* `dt`: The sample time specified on the KUKA controller.
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See the [examples/LBRJointSineOverlay.py](examples/LBRJointSineOverlay.py) example that demonstrates how to easily collect data from the robot.
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# Examples
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First, ensure the corresponding Java applications for each example are installed (these were supplied with KUKA Sunrise).
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Then turn on the robot, connect your laptop via ethernet, and follow these steps on your laptop.
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1. Change directory: `cd /path/to/FRI-Client-SDK_Python/examples`
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2. Run examples
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- `$ python LBRJointSineOverlay.py # based on examples provided by KUKA`
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- `$ python LBRTorqueSineOverlay.py # based on examples provided by KUKA`
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- `$ python LBRWrenchSineOverlay.py # based on examples provided by KUKA`
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- `$ python joint_teleop.py`
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- `$ python task_teleop.py`
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> [!NOTE]
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> FRI client is fetched from [fri](https://github.com/lbr-stack/fri) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
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# Documentation
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4. Setup the hardware, see [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
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You can find documentation for `pyFRI` in the [wiki](https://github.com/cmower/FRI-Client-SDK_Python/wiki).
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5. Checkout the [Example Applications](https://lbr-stack.readthedocs.io/en/latest/pyfri/doc/example_applications.html#example-applications).
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# Citation
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If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support.
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## Citation
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If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could leave a ⭐ and / or cite it, as it helps us to continue offering support.
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```
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@misc{huber2023lbrstack,

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