lbr-stack / pyfri Goto Github PK

Currently, the library only allows for synchronous execution, i.e.

1. KUKA controller sends a message to the LBR client
2. Depending on the session state the monitor, onStateChange, waitForCommand, or command methods are called
3. A response message is encoded and sent back to the controller.

It would be great to implement a way so that you can run a loop on the python side at what ever frequency you like, and have another thread execute in parallel that does the communication with the KUKA controller at the frequency specified on the pad (or in the Java).

Currently, the user is required to ensure the dtype of a numpy array passed to the "set" commands (e.g. setJointPosition) is a np.float32, for example:

https://github.com/cmower/FRI-Client-SDK_Python/blob/2cb8023c2e47c3250f231a6bc4d6b5760a2b6857/examples/LBRJointSineOverlay.py#L31-L33

What's worse, is that the "get" methods, e.g. getIpoJointPosition as above, output numpy arrays with dtype=np.float64. Two things should be changed in wrapper.cpp:

• "get" methods should return numpy arrays with dtype=np.float32 by default.
• "set" methods should accept any format, but convert the dtype internally to the correct format., see below

Hi

The repository that the link to the Java application points to: https://github.com/cmower/LBR-Java-app does not seem to be available any more, what program should be used for sunrise, if I want to try the driver?

Btw. the project looks great!