Science Score: 54.0%
This score indicates how likely this project is to be science-related based on various indicators:
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✓CITATION.cff file
Found CITATION.cff file -
✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
○DOI references
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✓Academic publication links
Links to: joss.theoj.org -
○Academic email domains
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○Institutional organization owner
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (14.9%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: takuya-ki
- License: apache-2.0
- Language: C++
- Default Branch: main
- Size: 8.81 MB
Statistics
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
pyfri
KUKA Fast Robot Interface Python SDK. The code in this repository, provides Python bindings for the FRI Client SDK C++ through pybind11. The interface has been designed to be as similar as possible to the documentation provided by KUKA.
There is one difference users of the Python bindings should be aware. When instantiating the client application, in C++ this is performed as follows.
```cpp // ..setup client..
// create new udp connection UdpConnection connection;
// pass connection and client to a new FRI client application ClientApplication app(connection, client); ```
In Python, the equivalent code is as follows.
```python import pyfri as fri
..setup client..
app = fri.ClientApplication(client) ```
Since UDP is the only supported connection type and the connection object is not actually required by the user after declaring the variable, the UdpConnection object is created internally to the fri.ClientApplication class object.
See the examples.
Quickstart
- Clone repository (make sure you include
--recursive):shell git clone --recursive https://github.com/lbr-stack/pyfri.git - Change directory:
shell cd pyfri - Install:
shell export FRI_CLIENT_VERSION=1.15 pip3 install .
[!NOTE] FRI client is fetched from fri and must be available as branch, refer README.
Setup the hardware, see Hardware Setup.
Checkout the Example Applications.
Citation
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.
@misc{huber2023lbrstack,
title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots},
author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
year={2023},
eprint={2311.12709},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
Owner
- Name: Takuya Kiyokawa
- Login: takuya-ki
- Kind: user
- Location: Osaka, Japan
- Company: Osaka University
- Website: https://takuya-ki.github.io
- Repositories: 17
- Profile: https://github.com/takuya-ki
Citation (CITATION.cff)
cff-version: 1.2.0
message: "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."
authors:
- family-names: Huber
given-names: Martin
orcid: https://orcid.org/0000-0003-4603-6773
- family-names: Mower
given-names: Christopher E.
orcid: https://orcid.org/0000-0002-3929-9391
- family-names: Ourselin
given-names: Sebastien
orcid: https://orcid.org/0000-0002-5694-5340
- family-names: Vercauteren
given-names: Tom
orcid: https://orcid.org/0000-0003-1794-0456
- family-names: Bergeles
given-names: Christos
orcid: https://orcid.org/0000-0002-9152-3194
title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
version: 1.4.2
doi: 10.48550/arXiv.2311.12709
date-released: 2023-12-29
GitHub Events
Total
- Push event: 3
- Create event: 1
Last Year
- Push event: 3
- Create event: 1
Dependencies
- actions/checkout v3 composite
- psf/black stable composite
- actions/checkout v4 composite
- actions/setup-python v5 composite
- numpy *