From fe8ab407995c0954c7fe6dcc978912e957d02125 Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Tue, 8 Aug 2023 18:33:11 +0100 Subject: [PATCH 1/2] Enable user to install FRI version by modifying fri_config.py --- setup.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 1963da8..e40d029 100644 --- a/setup.py +++ b/setup.py @@ -134,7 +134,10 @@ def build_extension(self, ext: CMakeExtension) -> None: build_args += [f"-j{self.parallel}"] # Set the FRI version number - cmake_args += [f"-DFRI_VERSION={FRI_VERSION}"] + fri_ver_major = FRI_VERSION.split(".")[0] + fri_ver_minor = FRI_VERSION.split(".")[1] + cmake_args += [f"-DFRI_VERSION_MAJOR={fri_ver_major}"] + cmake_args += [f"-DFRI_VERSION_MINOR={fri_ver_minor}"] build_temp = Path(self.build_temp) / ext.name if not build_temp.exists(): From c1be98876cacefad295a44fc562d85b4b2153795 Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Tue, 8 Aug 2023 18:33:46 +0100 Subject: [PATCH 2/2] Update README --- README.md | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/README.md b/README.md index 51e68f9..4cbb2ac 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# FRI-Client-SDK_Python +# pyFRI KUKA Fast Robot Interface Python SDK. The code in this repository, provides Python bindings for the FRI Client SDK C++. @@ -36,7 +36,7 @@ See the [examples](examples/). **THIS IS NOT A KUKA PRODUCT.** -[@cmower](https://github.com/cmower) is not affiliated with KUKA. +[@cmower](https://github.com/cmower) and [@mhubii](https://github.com/mhubii) are not affiliated with KUKA. # Support @@ -47,26 +47,23 @@ The following versions of FRI are currently supported: Note, whilst FRI version 2.5 is supported some functionality is not. Currently, FRI Cartesian Overlay is not supported by FRI-Client-SDK_Python. -If you have a different version, please consider [forking](https://github.com/cmower/FRI-Client-SDK_Cpp/fork) and [submitting a pull request](https://github.com/cmower/FRI-Client-SDK_Cpp/pulls). +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). # Install -1. Clone repository: `$ git clone --recursive git@github.com:cmower/FRI-Client-SDK_Python.git` (make sure you include `--recursive`) -2. Change directory: `$ cd FRI-Client-SDK_Python` +1. Clone repository (make sure you include `--recursive`): + - (ssh) `$ git clone --recursive git@github.com:lbr-stack/pyFRI.git` + - (https) `$ git clone --recursive https://github.com/lbr-stack/pyFRI.git` +2. Change directory: `$ cd pyFRI` 3. Modify `fri_config.py`: uncomment the line corresponding to your version of FRI. 4. Install: `$ pip install .` ## Upgrading/switching between FRI Versions -If you upgrade your FRI version or want to switch between them, you need to manually remove the `FRI-Client-SDK_Python/build` directory before running `pip install`. +If you upgrade your FRI version or want to switch between them, you need to manually remove the `build/` directory before running `pip install`. # Usage -## Java application - -A flexible Java application is provided [here](https://github.com/cmower/LBR-Java-app). -This must be installed on the KUKA Sunrise controller. - ## Data types You can pass NumPy arrays to the "set" methods (e.g. `setJointPosition`) in order to command the robot.