rewrte README; restructure code

Author: hesic73

CMakeLists.txt

@@ -7,13 +7,15 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Enable pybind11's automatic Python detection
 set(PYBIND11_FINDPYTHON ON)
-set(pybind11_DIR /home/abrar/hsc/pybind11-2.6.2/build/lib/pybind11/share/cmake/pybind11)
 find_package(pybind11 CONFIG REQUIRED)
 find_package(Eigen3 REQUIRED)  # Find Eigen3
 
 # Define the source files
 set(SOURCES src/main.cpp src/canAPI.cpp)
 
+# Add the include directory for headers
+include_directories(include)
+
 # Create the Python module with the desired name
 pybind11_add_module(allegro_pybind ${SOURCES})
 

README.md

@@ -1,26 +1,33 @@
-# Allegro Hand Interface
-Adapted from https://github.com/simlabrobotics/allegro_hand_linux_v4
+# allegro_pybind
+
+A Python binding for controlling the Allegro Hand, heavily based on https://github.com/simlabrobotics/allegro_hand_linux_v4. The setup instructions are also borrowed from the original project.
+
 
-## TODO
 
--  have a class-based API
+**Tested on**:
 
+- Ubuntu 20.04
+- g++ 9.4.0
+- cmake 3.16.3
+- python 3.8.20
 
-# Required hardware
+
+
+## Required hardware
 1. [Allegro hand v4](http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_v4.0)
 2. [PCAN-USB interface](https://www.peak-system.com/PCAN-USB.199.0.html?&L=1)
 
-# Setup instructions
-## Prerequisites
-### 1. PCAN-USB driver
+## Setup instructions
+### Prerequisites
+#### 1. PCAN-USB driver
 Download, build, and install PCAN-USB driver for Linux "libpcan"
 ```bash
 tar -xzvf peak-linux-driver-x.x.tar.gz
 cd peak-linux-driver-x.x
 make NET=NO
 sudo make install
 ```
-#### Troubleshooting
+##### Troubleshooting
 * If encounter 
   ```bash
   src/pcan-settings.c:47:10: fatal error: popt.h: No such file or directory
@@ -33,7 +40,7 @@ sudo make install
   sudo apt install libpopt-dev
   ```
 
-### 2. `libpcanbasic`
+#### 2. `libpcanbasic`
 Download, build, and install PCAN-Basic API for Linux: libpcanbasic
 ```bash
 tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz
@@ -42,7 +49,7 @@ make
 sudo make install
 ```
 
-### 3. `libBHand` grasping library
+#### 3. `libBHand` grasping library
 Download, build, and install Grasping Library for Linux, "libBHand": Grasping_Library_for_Linux
 ```bash
 unzip LibBHand_{32|64}.zip
@@ -52,13 +59,25 @@ sudo ldconfig
 ```
 
 
-## Installing this interface
+### Installation
+
+Besides the dependencies mentioned above, ensure the following dependencies are installed before building the package:
 
+- pybind11
+- Eigen3
+
+
+After installing the dependencies, you can build and install the package with:
 
 ```
 pip install .
 ```
 
 # Usage
 
-See `example.py`
+See `example.py`
+
+
+## TODO
+
+-  have a class-based API

src/canAPI.h include/canAPI.h

@@ -5,3 +5,9 @@ build-backend = "scikit_build_core.build"
 [project]
 name = "allegro_pybind"
 version = "0.1.0"
+authors = [{ name = "Sicheng He", email = "sichengh@usc.edu" }]
+description = "A Python binding for controlling the Allegro Hand."
+
+readme = "README.md"
+
+classifiers = ["Programming Language :: Python :: 3"]