deoxys_control
A modular, real-time controller library for Franka Emika Panda robots
Deoxys is a modular, real-time controller library for Franka Emika Panda arm, aiming to facilitate a wide range of robot learning research. Deoxys comes with a user-friendly python interface and real-time controller implementation in C++. If you are a robosuite user, Deoxys APIs provide seamless transfer
from you simulation codebase to real robot experiments!
Cite our codebase
If you use this codebase for your research projects, please cite our codebase based on the following project:
@article{zhu2022viola,
title={VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors},
author={Zhu, Yifeng and Joshi, Abhishek and Stone, Peter and Zhu, Yuke},
journal={arXiv preprint arXiv:2210.11339},
doi={10.48550/arXiv.2210.11339},
year={2022}
}
Installation of codebase
Overall, the installation has three parts:
- Install dependencies by running
InstallPackage - Compile desktop-side codebase (Python)
- Compile NUC-side codebase (C++)
Here are the details. For more information, please refer to the Codebase Installation Page.
Clone this repo to the robot workspace directory on Desktop computer (e.g. /home/USERNAME/robot-control-ws)
cd deoxys_control/deoxys
Install dependencies
Run the InstallPackage file to install necessary packages.
./InstallPackage
Deoxys - Desktop
Make sure that you are in your python virtual environment before
building this.
make -j build_deoxys=1
And install all the python dependencies (feel free to add pull requests if anything is missing) from deoxys_control/requirements.txt, by doing:
pip install -U -r requirements.txt
Franka Interface - Intel NUC
Franka Interface is the part which is supposed to run on NUC. Run this
command in directory deoxys_control/deoxys/ on Intel NUC.
make -j build_franka=1
A laundry list of pointers:
- How to turn on/off the robot
- How to install spacemouse
- How to set up the RTOS
- How to record and replay a trajectory
- How to write a simple motor program
Control the robot
Commands on Desktop
Here is a quick guide to run Deoxys.
Under deoxys_control/deoxys, run
python examples/run_deoxys_with_space_mouse.py
Change 1) spacemouse vendor_id and product_id (here) 2) robot interface
config (here) if necessary.
You might also check and change the PC / NUC names here.
Commands on Control PC (Intel NUC)
Under deoxys_control/deoxys, run two commands. One for real-time control of the arm, one for non
real-time control of the gripper.
bin/franka-interface config/charmander.yml
bin/gripper-interface config/charmander.yml