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| # FRI-Client-SDK_Python | ||
| # pyFRI | ||
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| KUKA Fast Robot Interface Python SDK. | ||
| The code in this repository, provides Python bindings for the FRI Client SDK C++. | ||
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@@ -36,7 +36,7 @@ See the [examples](examples/). | |
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| **THIS IS NOT A KUKA PRODUCT.** | ||
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| [@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. | ||
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| # Support | ||
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@@ -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. | ||
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| 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). | ||
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| # Install | ||
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| 1. Clone repository: `$ git clone --recursive [email protected]: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 [email protected]: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 .` | ||
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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 `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`. | ||
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| # Usage | ||
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| ## Java application | ||
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| A flexible Java application is provided [here](https://github.com/cmower/LBR-Java-app). | ||
| This must be installed on the KUKA Sunrise controller. | ||
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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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