Digit Python Interface - Low-Level API Cython Wrapper

A lightweight Cython wrapper enabling Python integration for the Agility Digit Low-Level API.

Installation

1. Install the ar-control simulator prerequisites:

   sudo apt update
   sudo apt install libfuse2

2. Create a virtual environment (optional but recommended):

   python3 -m venv .venv
   source venv/bin/activate
   python -m pip install --upgrade pip

3. Install the Agility Python SDK (available through your ar-control simulator)

   pip install agility-1.1.4-py3-none-any.whl

4. Build the underlying C++ library (libartl):

   Note: The setup.py uses a custom sdist command to trigger the Makefile for the agility lib. If you are not on Linux, please verify the location of the compiled library afterwards.

   python3 setup.py sdist

   (Alternatively, you can run the make command directly: make -C digit_interface/cpp/libartl libartl.a)

5. Build and install the Digit Interface package:

   pip install -e .

   Development Note: If you make changes to the .pyx files and need to manually recompile the Cython extensions in-place without reinstalling the whole package, you can run:

   python3 setup.py build_ext --inplace