Frankapy

Controllers

1. goto_pose: Move the end-eff to a pose in tool frame.
2. goto_pose_delta: Apply a given delta transform (in tool frame) to the end-eff.
3. goto_joints: Go to a state specified by a list of 7 joint angles.
4. goto_gripper: Command the gripper to go to a certain width.
5. run_guide_mode:
6. run_dynamic_force_position: commands arm to run dynamic hybrid force position control.
7. selective_guidance_mode: Commands the arm to stay in its current position with selective impendances that allow guidance along certain axes.

Steps for Running Franka

1. Switch on the main power.
2. ssh -X iam-lab@iam-reality, start firefox and open 172.16.0.2.
3. Run ./bash_scripts/start_control_pc.sh -i iam-reality inside frankapy. This opens a ROS connection between the main computed and Franka - we can run scripts now.
4. Unlock the robot in the browser.
5. Press/release the E-stop until the Franka is blue - this represents the active mode (white mean inactive).
6. Start the kinect: roslaunch azure_kinect_ros_driver driver.launch
7. Start the realsense: roslaunch realsense2_camera rs_aligned_depth.launch

Steps for Running Franka Bot

1. Plug the power cable to the wall.
2. Power the base by pushing the button on the base.
3. Turn on the NUC by pressing the silver button on top of it.
4. ssh -ND 9999 [email protected] on a terminal, start firefox locally and open 172.16.0.2.
5. Run ./bash_scripts/start_control_pc.sh -i iam-franka-bot inside frankapy.

• export ROS_MASTER if launching this script and processing real-sense on different computers.

Steps for Turning Off Franka Bot

1. Lock the arm using the interface and shut-down.
2. sudo shutdown on the NUC.
3. Push the base button.
4. Unplug the power cable.

• Steps to open firefox on the local machine instead of ssh -X which is often slow.