fourier-grx 1.0.0a15

Robotics Control System for the General Robotics (GR)

fourier-grx

Fourier GRX is a python package that provides a guidance for Fourier GR-X series robot.

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Sturcture

src/fourier_grx

• control_system: control system for Fourier GR-X series robot. It is mainly the control the main running loop of the robot.
• robot: robot model definition, robot related algorithms, and predefined tasks for Fourier GR-X series robot.
• algorithm: algorithm for Fourier GR-X series robot. It is mainly the common used algorithm for robot.
• task: task for Fourier GR-X series robot. It is mainly the predefined task for robot.
• other_controller: other controller for Fourier GR-X series robot, including the communication of MPC-WBC controller for Fourier GR-X series robot.
• tools: tools for Fourier GR-X series robot. It is mainly the tools for the robot, including the calibration tools, the data processing tools, etc.
• webots: Webots code for Fourier GR-X series robot. It is mainly the simulation of the robot in webots.
• zenoh: zenoh for Fourier GR-X series robot. It is mainly the communication between the robot and the computer.
• sdk: sdk for Fourier GR-X series robot. It is mainly the communication between the robot and the computer.

fourier-core

fourier-core is the core package for Fourier GR-X series robot. It builds the basic structure for Fourier GR-X series robot or other robot. It is mainly the basic structure for the robot, including the robot model, the robot controller, the robot algorithm, etc.

tests

test code for Fourier GR-X series robot.

data

data for Fourier GR-X series robot:

• pictures: pictures of the GR-X series robot.
• sensor_offset: absolute encoder sensor offset value data for different robots.

webots

Webots environment for Fourier GR-X series robot.

demo

demo code for Fourier GR-X series robot.

• developer_mode: use developer_mode interface to test the demos.
• zenoh: use zenoh interface to test the demos.
• state_estimator: config files for state estimator of the robot.

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Installation

Use PDM

PDM is a modern Python package manager with a focus on simplicity and efficiency.

pip install pdm

Then, you can install the package by running the following command:

pdm install

Use PIP

You can also use pip to install the package.

pip install -e .