### Install Pre-built Package in Virtual Env (Linux/MacOS) (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

Bash commands to create a virtual environment, activate it, install the wheel package, and then install a pre-built RTDE package from a local zip file.

```bash
python -m venv venv
source venv/bin/activate
pip install wheel
# Install pre-built rtde package
pip install target/rtde-<version>-release.zip
```

--------------------------------

### Install RTDE Python Client Library (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

Bash commands to clone the RTDE Python client library repository and install it using pip. It also shows how to install the latest commit from GitHub and pre-built packages.

```bash
git clone https://github.com/UniversalRobots/RTDE_Python_Client_Library
pip install RTDE_Python_Client_Library
```

```bash
pip install git+https://github.com/UniversalRobots/RTDE_Python_Client_Library.git@main
```

```bash
pip install git+https://github.com/UniversalRobots/RTDE_Python_Client_Library.git@<version-tag> # vX.X.X
```

--------------------------------

### Install Pre-built Package in Virtual Env (Windows PowerShell) (PowerShell)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

PowerShell commands to set execution policy, create a virtual environment, activate it, install the wheel package, and then install a pre-built RTDE package from a local zip file.

```powershell
set-executionpolicy -Scope CurrentUser -ExecutionPolicy Unrestricted
python -m venv venv
virtualenv\Scripts\Activate.ps1
pip install wheel
# Install pre-built rtde package
pip install target/rtde-<version>-release.zip
```

--------------------------------

### Record Realtime Data from Robot (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

Example bash commands to run the record.py script for recording realtime data from a Universal Robot. Requires RTDE interface to be enabled on the robot.

```bash
# Example for recording realtime data from the robot
# NOTE: RTDE interface has to be enabled in the robot security settings
cd examples
python record.py -h
python record.py --host 192.168.0.1 --frequency 10
```

--------------------------------

### Run UR Sim in Docker (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

Bash commands to download, run, and expose the Universal Robots simulator (ursim-e-series) in a Docker container. Ports for RTDE, VNC, and web interface are forwarded.

```bash
# 1. Get latest ursim docker image
docker pull universalrobots/ursim_e-series
# 2. Run docker container: 
docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
# 3. open vnc client in browser, and confirm safety: http://localhost:6080/vnc.html?host=docker_ip&port=6080
```

--------------------------------

### Build Release Package (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

A simple bash command to build the release package for the RTDE client library using Maven.

```bash
mvn package
```

--------------------------------

### Run record.py against Simulator in Devcontainer (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

Bash commands to execute the record.py script from within a devcontainer, targeting a Universal Robots simulator running in Docker. Assumes the simulator is already running and exposing the RTDE port.

```bash
# first start simulator exposing RTDE port 30004
# docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series

# in devcontainer terminal type
cd examples
./record.py --host controller --frequency 10 --verbose
```

--------------------------------

### Format Code with Black (Bash)

Source: https://github.com/universalrobots/rtde_python_client_library/blob/main/README.md

Bash command to run the Black code formatter on the entire project directory. This is used to maintain consistent code style before submitting pull requests.

```bash
# open project in devcontainer
python -m black .
```

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