CoDI (CORA Desktop Interface)

A Python SDK for communicating with the Cora robotic arms over TCP sockets.
The package provides:

• CoraClient Running onn the client pc for straightforward control
• CoraServer Running on a cora robot which interfaces with ROS
• Utility functions for encoding commands and decoding robot state messages

This SDK is designed to be simple, modular, and suitable for integration into larger robotics applications.

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Features

• TCP communication for commands, state feedback, and video
• Threaded background receivers
• Command encoding and state decoding utilities

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Implementation Architecture

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Project Structure

src/
codi/
client.py
utils.py
exceptions.py
README.md
pyproject.toml

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Installation

Make sure you have installed git otherwise the following commands will not work

Linux

Create a venv and source it:

python3 -m venv .venv\
source .venv/bin/activate

Install from github

pip install git+https://github.com/C-O-R-A/CoDI.git@main

Or install a specific release:

pip install git+https://github.com/C-O-R-A/CoDI.git@v0.1.0

Local installation (development)

git clone https://github.com/C-O-R-A/CoDI.git
cd codi
pip install -e .

Windows

install globally from github

pip install git+https://github.com/C-O-R-A/CoDI.git@v0.1.0

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Setup

Assign static IPs

Before the client pc can connect to the robot, static ethernet ip's must be configured.

Linux

1. Create a new Netplan file if none exists already

sudo nano /etc/netplan/02-ethernet-static.yaml

Paste this exactly:

network:
  version: 2
  renderer: NetworkManager
  ethernets:
    enx503eaa8b7587:
      dhcp4: no
      addresses:
        - 192.168.10.2/24

2. Apply the new configuration

sudo netplan apply

Verify it worked

ip a show

You should now see:

inet 192.168.10.2/24 scope global <ethernet interface name>

Windows:

Navigate to your network settings, then ethernet, then to the ethernet adapter connected to the robot.

Windows 10 often requires a gateway and DNS in the Settings app, even for a direct Ethernet link.

IPv4 Settings

• IP address: 192.168.10.2
• Subnet prefix length: 24
• Default gateway: 192.168.10.1
• Preferred DNS: 1.1.1.1 (or 8.8.8.8)

The gateway/DNS are only to satisfy Windows, the PCs will still talk directly.

Steps (recommended / reliable way)

1. Press Win
2. Go to Settings
3. Click Network & Internet
4. Then Ethernet
5. Select the adapter corresponding to the robot
6. Scroll down to IP settings and click Edit
7. Set IPv4 to On
8. Enter:
   • IP address: 192.168.10.2
   • Subnet prefix length: 24
   • Gateway: 192.168.10.1
   • Preferred DNS: 1.1.1.1
9. Click Save

Test

Open Command Prompt and type:

ping 192.168.10.1

or

ping cora.local

Socket configuration files

This sdk supports both .json and .yaml config files. For most applications, the provided example config files under ./config/ can be copied and used.

Format:

json

{
  "host": "cora.local",
  "video_port": <video port>,
  "command_port": <command port>,
  "states_port": <states port>,
  "config_port": <config port>,
  "vision_port": <vision port>
}

yaml

host: "cora.local"
video_port: <video port>
command_port: <command port>
states_port: <states port>
config_port: <config port>
vision_port: <vision port>

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Dependencies

• numpy
• opencv-python
• msgpack
• pyaml

These are installed automatically when installing via pip.

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Basic Usage

Client

import codi.api as cora

# Start the client using a config file
rt.start_client('client.json')
client = cora.get_client()

# Send joint position
cora.send_joint_position(
    rt=False,
    space="TS",
    interface_type="position",
    target="gripper",
    gripper_command=1.0,
    command=np.array([[1, 1, 1, 1], [2, 2, 2, 2]]),
    predef_pose="standby"
)

Server

from codi import CoraServer

# Start the server
cora_srv = CoraServer(str(CONFIG))
cora_srv.start()

# Send state feedback
cora_srv.send_state('moving', 'joint',
                    end_effector_state=np.array([[1, 1, 1], [3, 3, 3]]),
                    camera_frame_state=np.array([[2, 2, 2], [4, 4, 4]]),
                    gripper_frame_state=np.array([[4, 4, 4], [5, 5, 5]]))

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Troubleshooting

• Ensure correct IP address and port configuration.
• GUI functions require a Python installation that includes Tkinter.
• Video display requires Pillow for image conversion.

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License

This project is released under the MIT License.