Python Exosuit

This repo is the main codebase to run the lower-limb exosuit on a single board computer like the Jetson Nano or Raspberry Pi.

Install

To install the library run:

uv pip install exosuit-python==latest

OR

uv add git+https://github.com/TUM-Aries-Lab/exosuit-python.git@<specific-tag>  # need credentials

Development

0. Install uv from Astral.
1. git clone git@github.com:TUM-Aries-Lab/exosuit-python.git
2. Install the dependencies to use Makefiles.
3. make init to create the virtual environment and install dependencies
4. make format to format the code and check for errors
5. make test to run the test suite
6. make clean to delete the temporary files and directories

Publishing

It's super easy to publish your own packages on PyPI. To build and publish this package run:

uv build
uv publish  # make sure your version in pyproject.toml is updated

The package can then be found at: https://pypi.org/project/exosuit-python

Module Usage

"""Basic docstring for the exosuit module."""
from exosuit_python.exosuit import Exosuit, ExosuitConfig

def main() -> None:
    """Run a simple demonstration."""
    config = ExosuitConfig(frequency=100)
    exosuit = Exosuit(config=config)
    exosuit.run()
if __name__ == "__main__":
    main()

Program Usage

uv run python -m exosuit_python

Structure

Run make tree to update the repository tree scene below.

├── src
│   └── exosuit_python
│       ├── __init__.py
│       ├── __main__.py
│       ├── definitions.py
│       ├── exosuit.py
│       └── utils.py
├── tests
│   ├── __init__.py
│   ├── conftest.py
│   ├── exosuit_test.py
│   └── utils_test.py
├── .dockerignore
├── .gitignore
├── .pre-commit-config.yaml
├── .python-version
├── CONTRIBUTING.md
├── Dockerfile
├── LICENSE
├── Makefile
├── README.md
├── pyproject.toml
├── repo_tree.py
└── uv.lock