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CLAUDE.md

This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.

What This Project Does

RSIPI enables real-time control of KUKA industrial robots from Python via the RSI (Robot Sensor Interface) protocol. The robot sends its position ~250 times/second over UDP, and this library lets you send back position corrections to control the robot externally.

Build & Development Commands

# Install dependencies
pip install -e .

# Or install from requirements (if present)
pip install pandas>=2.0 numpy>=1.22 matplotlib>=3.5 lxml>=4.9 scipy>=1.8

# Run the CLI
python -m RSIPI.rsi_cli --config RSI_EthernetConfig.xml

# Run the echo server (for offline testing without a real robot)
python -m RSIPI.rsi_echo_server

No test suite exists - testing is done via the echo server simulation and example scripts in examples/.

Architecture

Core Communication Flow

KUKA Robot Controller <--UDP/XML--> NetworkProcess <--multiprocessing.Manager--> RSIClient <-- RSIAPI/CLI

  1. NetworkProcess (network_handler.py) - Runs in separate process via multiprocessing.Process. Binds to UDP socket, receives XML from robot, parses into receive_variables, sends XML from send_variables back to robot. Uses start_event to wait for explicit start signal.

  2. RSIClient (rsi_client.py) - Orchestrates the system. Initializes ConfigParser, SafetyManager, and NetworkProcess. Uses multiprocessing.Manager dicts for thread-safe variable sharing between processes.

  3. RSIAPI (rsi_api.py) - High-level API wrapping RSIClient. Runs RSIClient in a daemon thread. Provides trajectory planning, logging, plotting, and safety controls.

  4. RSICommandLineInterface (rsi_cli.py) - Interactive CLI that wraps RSIAPI.

Key Shared State

Variables are shared between processes using multiprocessing.Manager().dict():

  • send_variables - Values to send to robot (RKorr corrections, digital outputs, etc.)
  • receive_variables - Values received from robot (RIst position, ASPos joints, IPOC timestamp)

Configuration

RSI_EthernetConfig.xml defines:

  • Network settings (IP, port) in <CONFIG> section
  • Send variables in <SEND><ELEMENTS> - what the robot receives from us
  • Receive variables in <RECEIVE><ELEMENTS> - what we receive from robot

Variable tags like DEF_RIst get the DEF_ prefix stripped and are expanded using internal_structure in ConfigParser to full dicts (e.g., RIst: {X, Y, Z, A, B, C}).

Safety Layer

SafetyManager (safety_manager.py) validates all outgoing values against configurable limits. Can load limits from .rsi.xml files. Supports emergency stop and safety override modes.

Trajectory Execution

TrajectoryPlanner generates interpolated waypoints. execute_trajectory() in RSIAPI uses asyncio to send points at specified rate (default 12ms for Cartesian, 400ms for joints).

Important Patterns

  • IPOC synchronization: The robot sends an IPOC (timestamp) value. The response must include IPOC + 4 to maintain sync. This is handled automatically in NetworkProcess.process_received_data().

  • Lazy client initialization: RSIAPI uses _ensure_client() pattern - RSIClient is created on first use, not at RSIAPI instantiation.

  • Non-blocking start: start_rsi() runs the client loop in a daemon thread. The NetworkProcess waits on start_event before binding the socket.

File Locations

  • Source code: src/RSIPI/
  • Example scripts: examples/
  • Config template: RSI_EthernetConfig.xml
  • Logs written to: logs/ (created at runtime)
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