added initial rst content

README.md

@@ -37,7 +37,7 @@ Since UDP is the only supported connection type and the connection object is not
 
 See the [examples](examples/).
 
-# Quickstart
+## Quickstart
 
 1. Clone repository (make sure you include `--recursive`):
    ```shell
@@ -56,13 +56,11 @@ See the [examples](examples/).
 > [!NOTE]
 > FRI client is fetched from [fri](https://github.com/lbr-stack/fri) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
 
-# Important notice
+4. Setup the hardware, see [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
 
-**THIS IS NOT A KUKA PRODUCT.**
+5. Checkout the [example applications](https://lbr-stack.readthedocs.io/en/latest/pyfri/doc/example_applications.html#example-applications).
 
-[@cmower](https://github.com/cmower) and [@mhubii](https://github.com/mhubii) are not affiliated with KUKA.
-
-# Citation
+## 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.
 
 ```

doc/example_applications.rst

@@ -0,0 +1,172 @@
+Usage
+-----
+.. contents:: Table of Contents
+   :depth: 3
+   :local:
+   :backlinks: none
+
+Data Types
+~~~~~~~~~~
+
+You can pass NumPy arrays to the "set" methods (e.g. ``setJointPosition``) in order to command the robot.
+However, you **must** ensure the format of the array is correct.
+
+Arrays that have a ``dtype`` of ``np.float32`` are the only ones that can be accepted.
+See how the commands are set in the the examples.
+
+Collecting Data from the Robot
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+We provide additional functionality to the LBR client application class that enables data collection to a text file.
+In Python, simply add the following
+
+```python
+app = fri.ClientApplication(client)
+app.collect_data(file_name)
+```
+
+The string ``file_name`` should contain the file name for the data file.
+We use the comma-separated values format for the data file, and so the file name should end with the extension ``.csv`` - *note*, if this isn't the case then ``.csv`` is automatically appended to the given file name.
+
+The columns in the recorded csv file are as follows:
+* ``index``: the index of the recorded data, starts at 0, and is incremented by 1 at each call to the ``step`` method.
+* ``time``: the time of the command, starts at 0.0, then is incremented by the sample time at each call to the ``step`` method.
+* ``record_time_nsec``: the epoch time collected when the data in the current time step is recorded.
+* ``tsec``: controller time as specified by the FRI in seconds. See FRI documentation for ``getTimestampSec``.
+* ``tnsec``: controller time as specified by the FRI in nanoseconds. See FRI documentation for ``getTimestampNanoSec``.
+* ``mp1, ..., mp7``: The measured joint position for the robot.
+* ``ip1, ..., ip7``: The ipo joint position for the robot.
+* ``mt1, ..., mt7``: The measured torque for the robot.
+* ``et1, ..., et7``: The external torque for the robot.
+* ``dt``: The sample time specified on the KUKA controller.
+
+See the [examples/LBRJointSineOverlay.py](examples/LBRJointSineOverlay.py) example that demonstrates how to easily collect data from the robot.
+
+Example Applications
+~~~~~~~~~~~~~~~~~~~~
+First, ensure the corresponding Java applications for each example are installed (these were supplied with KUKA Sunrise).
+Then turn on the robot, connect your laptop via ethernet, and follow these steps on your laptop.
+
+1. Change directory: ``cd /path/to/FRI-Client-SDK_Python/examples``
+2. Run examples
+
+Hand-guiding
+^^^^^^^^^^^^
+Source code: `hand_guide.py <https://github.com/lbr-stack/pyfri/blob/main/examples/hand_guide.py>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+#. Client side:
+
+Joint Teleoperation
+^^^^^^^^^^^^^^^^^^^
+Source code: `joint_teleop.py <https://github.com/lbr-stack/pyfri/blob/main/examples/joint_teleop.py>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+#. Client side:
+
+- ``$ python3 joint_teleop.py``
+
+
+Task Teleoperation
+^^^^^^^^^^^^^^^^^^
+Source code: `task_teleop.py <https://github.com/lbr-stack/pyfri/blob/main/examples/task_teleop.py>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+- ``$ python3 task_teleop.py``
+
+KUKA Default Demos
+^^^^^^^^^^^^^^^^^^
+LBR Joint Sine Overlay
+""""""""""""""""""""""
+Source code: `LBRJointSineOverlay.py <https://github.com/lbr-stack/pyfri/blob/main/examples/LBRJointSineOverlay.py>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+- ``$ python3 LBRJointSineOverlay.py # based on examples provided by KUKA``
+
+
+LBR Torque Sine Overlay
+"""""""""""""""""""""""
+Source code: `LBRTorqueSineOverlay.py <https://github.com/lbr-stack/pyfri/blob/main/examples/LBRTorqueSineOverlay.py>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+- ``$ python3 LBRTorqueSineOverlay.py # based on examples provided by KUKA``
+
+
+LBR Wrench Sine Overlay
+"""""""""""""""""""""""
+Source code: `LBRWrenchSineOverlay.py <https://github.com/lbr-stack/pyfri/blob/main/examples/LBRWrenchSineOverlay.py>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+- ``$ python3 LBRWrenchSineOverlay.py # based on examples provided by KUKA``

doc/pyfri.rst

@@ -1,6 +1,8 @@
-pyfri
-=====
+.. include:: ../README.md
+   :parser: myst_parser.sphinx_
 
-.. ## Upgrading/switching between FRI Versions
+.. toctree::
+   :hidden:
 
-.. If you upgrade your FRI version or want to switch between them, you need to manually remove the `build/` directory before running `pip install`.
+   software_architecture
+   example_applications

examples/joint_teleop.py

@@ -1,10 +1,10 @@
+import argparse
 import sys
 
-# PyGame: https://www.pygame.org/news
-import pygame
-
 # FRI Client: https://github.com/cmower/FRI-Client-SDK_Python
 import pyfri as fri
+# PyGame: https://www.pygame.org/news
+import pygame
 
 pygame.init()