fourier-grx-client

This is the client library for the Fourier GRX robot. The correponding server library can be found here.

❗ Breaking Changes

For users who have been using Wiki-GRx-Deploy and those who are new to this library, Please note the following breaking changes:

• Wiki-GRx-Deploy has been deprecated and is no longer supported.
• All user-facing interfaces now default to use radians instead of degrees.
• URDF now loads from Wiki-GRx-Models via fourier-robot-descriptions package.
• Nameing convention for all links and joints are now consistent with the URDF.
• Config file structure has been updated to match the latest version of the server. Default config file can be found under config directory.

Installation

This software is highly unstable and subject to change at any time. Version 0.2.0a8 is only compatible with fourier-grx version v1.0.0a20 and up.

On the robot computer:

On the robot, install fourier-grx==1.0.0a20 following the Installation Instructions.

On other machines:

Grx client will be automatically installed when installing fourier-grx on the robot.

If you want to control the robot from another machine, you can install the client library using the following methods:

Install from pypi

Run:

pip install fourier-grx-client==0.2.0a8

Install from source

git clone https://github.com/FFTAI/fourier-grx-client.git
cd fourier-grx-client
pip install -e .

Usage

Please read the Tutorial for a step-by-step guide on how to get started and use the interfaces.

Demo scripts can be found in the examples directory.

For more information on the API, see the API Reference.

Development

1. Install the pdm package manager:

pip install pdm

2. use pdm to install the package and all development dependencies:

pdm install -v -d

3. Install pre-commit hooks:

pre-commit install