# Feather SDK Documentation

Documentation for SDK version **{{ sdk_version }}**.

## Installation

The Feather SDK is a Python package (Python 3.9–3.14) for controlling Feather robots. Install it from PyPI:

```bash
pip install feathersdk
```

## Quickstart

`feathercli` is the SDK command-line tool. See [FeatherCLI](feathercli.md) for how it works and the full command reference.
For how the robot object and its modules fit together, see [Overview](overview.md).
For commanding the neck, torso, base, and arms, see [Actuator systems](actuator_systems.md).

### 1. System Installation

On a fresh device, we must do a one-time feathersdk system install. You can check if everything is installed using:
```bash
feathercli install --verify
```

You can install system files using:
```bash
sudo feathercli install --all -v YOUR_VERSION
```

Where `YOUR_VERSION` is the version of the Feather robot you have, eg: "v0.5.1".

:::{note}
If `feathersdk` is not installed in your system /usr/bin/python environment, `sudo` won't be able to find the correct
`feathercli`. You would instead need to activate your environment you wish to use and run:

```bash
sudo -E $(which feathercli) install --all -v YOUR_VERSION
```
:::

:::{note}
We only support Python 3.9+ for full `feathersdk` usage, however you should be able to pip-install and use
`feathercli install` on 3.7+ just for installation. This way, you can use the default shipped python on a fresh
jetson install by just running:

```bash
pip install --upgrade pip && pip install feathersdk && sudo feathercli install --all -v YOUR_VERSION
```
:::

### 2. Configs

Configs are python files. Their default location is `/feathersys/configs`. Edit those configs as needed. Setting
a system in `FeatherRobotConfig()` to `None` will disable that system.

### 3. Keyboard Control

Control the robot with your keyboard by running:
```bash
feathercli control keyboard
```

### 4. Example File

Create an example .ipynb file showing the feathersdk API by running:
```bash
feathercli example
```

### 5. Example Code

`initialize_feather_system` loads your config file and returns a ready-to-use `FeatherRobot`.

```python
# Initialize the feather robot 
from feathersdk.robot.robot import initialize_feather_system, FeatherRobot

robot: FeatherRobot = initialize_feather_system()

nav = robot.navigation_system
neck = robot.neck_system
torso = robot.torso_system
monitor = robot.data_monitor_service
manip = robot.manipulation_system
camera = robot.camera_service
odom = robot.odometry_service
```

Anything not present in your config is `None`, so only the systems and services you enabled are available.

## Guides

```{toctree}
:maxdepth: 1
:caption: Guides

overview
actuator_systems
feathercli
logging
log_parsing
```

## API Reference

```{toctree}
:maxdepth: 3
:caption: API Reference

api/feathersdk
```

## Release Notes

```{toctree}
:maxdepth: 1
:caption: Release Notes

changelog
```