FRI source via FetchContent

.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: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, ubuntu-22.04]
+        fri_version: [1.11, 1.14, 1.15, 1.16, 2.5, 2.7]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.x"
+      - name: Test installation
+        run: export FRI_CLIENT_VERSION=${{ matrix.fri_version }} && pip3 install --verbose .

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "FRI-Client-SDK_Cpp"]
-	path = FRI-Client-SDK_Cpp
-	url = [email protected]:cmower/FRI-Client-SDK_Cpp.git
 [submodule "pybind"]
 	path = pybind
 	url = [email protected]:pybind/pybind11.git

CMakeLists.txt

@@ -7,12 +7,32 @@ cmake_minimum_required(VERSION 3.16.3)
 
 project(_pyFRI)
 
+include(FetchContent)
+
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(FRI_BUILD_EXAMPLES OFF)
 
+# set the FRI version
+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-${FRI_CLIENT_VERSION_MAJOR}.${FRI_CLIENT_VERSION_MINOR}
+)
+
+FetchContent_MakeAvailable(FRI)
+
 add_subdirectory(pybind)
-add_subdirectory(FRI-Client-SDK_Cpp)
 
 pybind11_add_module(_pyFRI ${CMAKE_CURRENT_SOURCE_DIR}/pyFRI/src/wrapper.cpp)
 
+target_include_directories(
+    _pyFRI
+    PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/pyFRI/src
+)
+
 target_link_libraries(_pyFRI PRIVATE FRIClient)

README.md

@@ -1,4 +1,7 @@
-# FRI-Client-SDK_Python
+# 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++.
@@ -36,7 +39,7 @@ 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 +50,30 @@ 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 [email protected]:cmower/FRI-Client-SDK_Python.git` (make sure you include `--recursive`)
-2. Change directory: `$ cd FRI-Client-SDK_Python`
-3. Modify `fri_config.py`: uncomment the line corresponding to your version of FRI.
-4. Install: `$ pip install .`
+1. Clone repository (make sure you include `--recursive`):
+   ```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
 
-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.

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)