clean-up (#14, #15)

.github/workflows/black.yaml

@@ -0,0 +1,10 @@
+name: Lint
+
+on: [push, pull_request]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: psf/black@stable

.github/workflows/build.yaml

@@ -0,0 +1,27 @@
+name: Build
+
+on:
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * *"
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, windows-latest]
+        fri_version: [1.11, 1.14, 1.15, 1.16, 2.5, 2.7]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.10
+      - name: Export FRI_CLIENT_VERSION
+        run: export FRI_CLIENT_VERSION=${{ matrix.fri_version }}
+      - name: Test installation
+        run: pip3 install .

CMakeLists.txt

@@ -13,21 +13,18 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(FRI_BUILD_EXAMPLES OFF)
 
 # set the FRI version
-set(FRI_VERSION_MAJOR 1 CACHE STRING "The FRI major version." FORCE)
-set(FRI_VERSION_MINOR 15 CACHE STRING "The FRI minor version." FORCE)
+set(FRI_CLIENT_VERSION_MAJOR 1 CACHE STRING "The FRI client major version." FORCE)
+set(FRI_CLIENT_VERSION_MINOR 15 CACHE STRING "The FRI client minor version." FORCE)
 
 # fetch the fri depending on the version
 FetchContent_Declare(
     FRI
     GIT_REPOSITORY https://github.com/lbr-stack/fri
-    GIT_TAG fri-${FRI_VERSION_MAJOR}.${FRI_VERSION_MINOR}
+    GIT_TAG fri-${FRI_CLIENT_VERSION_MAJOR}.${FRI_CLIENT_VERSION_MINOR}
 )
 
 FetchContent_MakeAvailable(FRI)
 
-# fri configure file
-configure_file(fri_config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/pyFRI/src/fri_config.h)
-
 add_subdirectory(pybind)
 
 pybind11_add_module(_pyFRI ${CMAKE_CURRENT_SOURCE_DIR}/pyFRI/src/wrapper.cpp)

README.md

@@ -1,5 +1,8 @@
 # pyFRI
 
+[![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) 
+[![Code Style: Black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+
 KUKA Fast Robot Interface Python SDK.
 The code in this repository, provides Python bindings for the FRI Client SDK C++.
 The interface has been designed to be as similar as possible to the documentation provided by KUKA.
@@ -52,11 +55,18 @@ If you have a different version, please consider [forking](https://github.com/lb
 # Install
 
 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 .`
+   ```shell
+   git clone --recursive https://github.com/lbr-stack/pyFRI.git
+   ```
+2. Change directory:
+   ```shell
+   cd pyFRI
+   ```
+3. Install:
+   ```shell
+   export FRI_CLIENT_VERSION=1.15
+   pip3 install .
+   ```
 
 ## Upgrading/switching between FRI Versions
 

examples/LBRJointSineOverlay.py

@@ -1,9 +1,11 @@
-import sys
-import math
 import argparse
+import math
+import sys
+
+import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
-import matplotlib.pyplot as plt
+
 import pyFRI as fri
 
 
@@ -110,7 +112,7 @@ def cvt_joint_mask(value):
 
 
 def main():
-    print("Running FRI Version:", fri.FRI_VERSION)
+    print("Running FRI Version:", fri.FRI_CLIENT_VERSION)
 
     args = get_arguments()
     client = LBRJointSineOverlayClient(

examples/LBRTorqueSineOverlay.py

@@ -1,10 +1,11 @@
-import sys
-import math
 import argparse
-import pyFRI as fri
+import math
+import sys
 
 import numpy as np
 
+import pyFRI as fri
+
 
 class LBRTorqueSineOverlayClient(fri.LBRClient):
     def __init__(self, joint_mask, freq_hz, torque_amplitude):
@@ -98,10 +99,12 @@ def cvt_joint_mask(value):
 
 
 def main():
-    print("Running FRI Version:", fri.FRI_VERSION)
+    print("Running FRI Version:", fri.FRI_CLIENT_VERSION)
 
     args = get_arguments()
-    client = LBRTorqueSineOverlayClient(args.joint_mask, args.freq_hz, args.torque_amplitude)
+    client = LBRTorqueSineOverlayClient(
+        args.joint_mask, args.freq_hz, args.torque_amplitude
+    )
     app = fri.ClientApplication(client)
     success = app.connect(args.port, args.hostname)
 

examples/LBRWrenchSineOverlay.py

@@ -1,10 +1,11 @@
-import sys
-import math
 import argparse
-import pyFRI as fri
+import math
+import sys
 
 import numpy as np
 
+import pyFRI as fri
+
 
 class LBRWrenchSineOverlayClient(fri.LBRClient):
     def __init__(self, frequencyX, frequencyY, amplitudeX, amplitudeY):
@@ -104,7 +105,7 @@ def get_arguments():
 
 
 def main():
-    print("Running FRI Version:", fri.FRI_VERSION)
+    print("Running FRI Version:", fri.FRI_CLIENT_VERSION)
 
     args = get_arguments()
     print(args)

examples/admittance.py

@@ -1,8 +1,7 @@
+import numpy as np
 import optas
 from robot import load_robot
 
-import numpy as np
-
 
 class AdmittanceController:
     def __init__(self, lbr_med_num):

examples/hand_guide.py

@@ -1,22 +1,20 @@
-import sys
-import math
 import argparse
+import sys
+
+import numpy as np
+from admittance import AdmittanceController
+
 import pyFRI as fri
+from pyFRI.tools.filters import ExponentialStateFilter
 from pyFRI.tools.state_estimators import (
-    JointStateEstimator,
     FRIExternalTorqueEstimator,
+    JointStateEstimator,
     WrenchEstimatorTaskOffset,
 )
-from pyFRI.tools.filters import ExponentialStateFilter
-
-
-from admittance import AdmittanceController
-
-import numpy as np
 
-if fri.FRI_VERSION_MAJOR == 1:
+if fri.FRI_CLIENT_VERSION_MAJOR == 1:
     POSITION = fri.EClientCommandMode.POSITION
-elif fri.FRI_VERSION_MAJOR == 2:
+elif fri.FRI_CLIENT_VERSION_MAJOR == 2:
     POSITION = fri.EClientCommandMode.JOINT_POSITION
 
 
@@ -103,7 +101,7 @@ def get_arguments():
 
 
 def main():
-    print("Running FRI Version:", fri.FRI_VERSION)
+    print("Running FRI Version:", fri.FRI_CLIENT_VERSION)
 
     args = get_arguments()
     client = HandGuideClient(args.lbr_ver)

examples/ik.py

@@ -3,7 +3,6 @@
 
 
 class IK:
-
     """
 
     This class solves the following problem

examples/joint_teleop.py

@@ -1,11 +1,11 @@
 import sys
 
-# FRI Client: https://github.com/cmower/FRI-Client-SDK_Python
-import pyFRI as fri
-
 # PyGame: https://www.pygame.org/news
 import pygame
 
+# FRI Client: https://github.com/cmower/FRI-Client-SDK_Python
+import pyFRI as fri
+
 pygame.init()
 
 # NumPy: https://numpy.org/
@@ -138,7 +138,7 @@ def get_arguments():
 
 
 def main():
-    print("Running FRI Version:", fri.FRI_VERSION)
+    print("Running FRI Version:", fri.FRI_CLIENT_VERSION)
 
     args = get_arguments()
     keyboard = Keyboard()

examples/task_teleop.py

@@ -1,13 +1,13 @@
-import sys
 import argparse
+import sys
 from collections import OrderedDict
 
-# FRI Client: https://github.com/cmower/FRI-Client-SDK_Python
-import pyFRI as fri
-
 # PyGame: https://www.pygame.org/news
 import pygame
 
+# FRI Client: https://github.com/cmower/FRI-Client-SDK_Python
+import pyFRI as fri
+
 pygame.init()
 
 # NumPy: https://numpy.org/
@@ -157,7 +157,7 @@ def get_arguments():
 
 
 def main():
-    print("Running FRI Version:", fri.FRI_VERSION)
+    print("Running FRI Version:", fri.FRI_CLIENT_VERSION)
 
     args = get_arguments()
     ik = IK(args.lbr_ver)

pyFRI/src/wrapper.cpp

@@ -16,9 +16,9 @@
 // KUKA FRI-Client-SDK_Cpp (using version hosted at:
 // https://github.com/cmower/FRI-Client-SDK_Cpp)
 #include "friClientApplication.h"
+#include "friClientVersion.h"
 #include "friLBRClient.h"
 #include "friUdpConnection.h"
-#include "fri_config.h"
 
 // Function for returning the current time
 long long getCurrentTimeInNanoseconds() {
@@ -206,10 +206,10 @@ PYBIND11_MODULE(_pyFRI, m) {
   m.doc() = "Python bindings for the KUKA FRI Client SDK. THIS IS NOT A KUKA "
             "PRODUCT.";
 
-  m.attr("FRI_VERSION_MAJOR") = FRI_VERSION_MAJOR;
-  m.attr("FRI_VERSION_MINOR") = FRI_VERSION_MINOR;
-  m.attr("FRI_VERSION") = std::to_string(FRI_VERSION_MAJOR) + "." +
-                          std::to_string(FRI_VERSION_MINOR);
+  m.attr("FRI_CLIENT_VERSION_MAJOR") = FRI_CLIENT_VERSION_MAJOR;
+  m.attr("FRI_CLIENT_VERSION_MINOR") = FRI_CLIENT_VERSION_MINOR;
+  m.attr("FRI_CLIENT_VERSION") = std::to_string(FRI_CLIENT_VERSION_MAJOR) +
+                                 "." + std::to_string(FRI_CLIENT_VERSION_MINOR);
 
   py::enum_<KUKA::FRI::ESessionState>(m, "ESessionState")
       .value("IDLE", KUKA::FRI::ESessionState::IDLE)
@@ -262,9 +262,9 @@ PYBIND11_MODULE(_pyFRI, m) {
       .value("NO_COMMAND_MODE", KUKA::FRI::EClientCommandMode::NO_COMMAND_MODE)
       .value("WRENCH", KUKA::FRI::EClientCommandMode::WRENCH)
       .value("TORQUE", KUKA::FRI::EClientCommandMode::TORQUE)
-#if FRI_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
       .value("POSITION", KUKA::FRI::EClientCommandMode::POSITION)
-#elif FRI_VERSION_MAJOR == 2
+#elif FRI_CLIENT_VERSION_MAJOR == 2
       .value("JOINT_POSITION", KUKA::FRI::EClientCommandMode::JOINT_POSITION)
       .value("CARTESIAN_POSE", KUKA::FRI::EClientCommandMode::CARTESIAN_POSE)
 #endif
@@ -276,7 +276,7 @@ PYBIND11_MODULE(_pyFRI, m) {
       .value("CARTESIAN", KUKA::FRI::EOverlayType::CARTESIAN)
       .export_values();
 
-#if FRI_VERSION_MAJOR == 2
+#if FRI_CLIENT_VERSION_MAJOR == 2
   py::enum_<KUKA::FRI::ERedundancyStrategy>(m, "ERedundancyStrategy")
       .value("E1", KUKA::FRI::ERedundancyStrategy::E1)
       .value("NO_STRATEGY", KUKA::FRI::ERedundancyStrategy::NO_STRATEGY)
@@ -392,7 +392,7 @@ PYBIND11_MODULE(_pyFRI, m) {
       .def("getBooleanIOValue", &KUKA::FRI::LBRState::getBooleanIOValue)
       .def("getDigitalIOValue", &KUKA::FRI::LBRState::getDigitalIOValue)
       .def("getAnalogIOValue", &KUKA::FRI::LBRState::getAnalogIOValue)
-#if FRI_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
       .def("getCommandedJointPosition",
            [](const KUKA::FRI::LBRState &self) {
              // Declare variables
@@ -410,7 +410,7 @@ PYBIND11_MODULE(_pyFRI, m) {
              return py::array_t<float>({KUKA::FRI::LBRState::NUMBER_OF_JOINTS},
                                        dataf);
            })
-#elif FRI_VERSION_MAJOR == 2
+#elif FRI_CLIENT_VERSION_MAJOR == 2
     .def("getMeasuredCartesianPose",
 	 [](const KUKA::FRI::LBRState &self) {