120 lines
2.9 KiB
Markdown
120 lines
2.9 KiB
Markdown
# RSIPI – Robot Sensor Interface Python Integration
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RSIPI (Robot Sensor Interface Python Integration) is a comprehensive Python package designed to simplify and enhance the integration and control of KUKA robots using the Robot Sensor Interface (RSI). It provides intuitive APIs, real-time data visualisation, dynamic control capabilities, and easy logging, suitable for research, development, and deployment of advanced robotics applications.
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## 🚀 Features
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- **Real-Time Control:** Seamless communication with KUKA RSI.
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- **Dynamic Variable Updates:** Update robot parameters dynamically during runtime.
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- **CSV Logging:** Record all robot interactions and sensor data for easy analysis.
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- **Live Graphing:** Real-time visualisation of position, velocity, acceleration, and force.
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- **Command-Line Interface (CLI):** User-friendly terminal-based robot interaction.
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- **Python API:** Easily integrate RSIPI into custom Python applications.
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## 📂 Project Structure
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```
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RSI-PI/
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├── src/
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│ └── RSIPI/
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│ ├── rsi_api.py
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│ ├── rsi_client.py
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│ ├── network_process.py
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│ ├── config_parser.py
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│ ├── xml_handler.py
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│ ├── rsi_config.py
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│ ├── cli.py
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│ ├── graphing.py
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│ └── test_rsipi.py
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├── RSI_EthernetConfig.xml
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├── setup.py
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└── README.md
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```
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## ⚙️ Installation
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To install RSIPI, clone the repository and use `pip`:
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```bash
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git clone <your-repo-url>
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cd RSI-PI
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pip install .
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```
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## ▶️ Getting Started
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**Quick example:**
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```python
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from RSIPI import RSIAPI
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from time import sleep
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# Initialise RSIAPI
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api = RSIAPI("RSI_EthernetConfig.xml")
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# Start RSI communication
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api.start_rsi()
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# Dynamically update a variable
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api.update_variable("EStr", "RSIPI Test")
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# Log data to CSV
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api.start_logging("robot_data.csv")
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sleep(10)
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# Stop logging and RSI communication
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api.stop_logging()
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api.stop_rsi()
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```
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## 💻 Command-Line Interface
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Start the CLI for interactive robot control:
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```bash
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python src/RSIPI/rsi_cli.py
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```
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Example CLI commands:
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- `start`: Start RSI communication
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- `set EStr HelloWorld`: Update variable
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- `log start data.csv`: Start logging
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- `graph start position`: Start live graphing
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- `stop`: Stop RSI communication
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## 📊 Graphing and Visualisation
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RSIPI supports real-time plotting and analysis:
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```python
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api.start_graphing(mode="position") # Real-time position graph
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```
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## 🧪 Running Tests
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Tests are provided to verify all functionalities:
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```bash
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python -m unittest discover -s src/RSIPI -p "test_*.py"
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```
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## 📝 Citation
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If you use RSIPI in your research, please cite it:
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```
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@misc{YourName2025RSIPI,
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author = {Your Name},
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title = {RSIPI: Robot Sensor Interface Python Integration},
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year = {2025},
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publisher = {GitHub},
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journal = {GitHub repository},
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url = {https://github.com/yourusername/RSIPI},
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}
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```
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## 📚 License
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RSIPI is released under the [MIT License](LICENSE). |