Make sure you read and follow all the instructions here. Otherwise, I assure you will break the robot. Ask, if you do not understand anything mentioned below. Take you time to read and think! Never jumping around. Ask before you try.
Deoxys is a real-time controller library for Franka Emika Panda. To correctly deploy your policy on the real robot, you should read through the whole document. Especially, pay more attention to the tutorial.
Notice:
-
use
./auto_scripts/auto_arm.sh config/charmander.ymlto start the controller on NUC. -
You can find FCI mode in here.
-
To have Deoxys run on our robot, you will need to remove all the safety rules on the robot's web interface.
We have a SensONE 6-axis Force/Torque sensor mount to the end-effector of the robot.
- Read the official user manual to know what this product is about, it is more than just a force/toque sensor!
- Read the official FAQ to know what internal calibration and external calibration are. You will need to do external calibration before you use.
Use the code here to calibrate the force sensor, try to find the offset and save it. I have created a python module for reading the forces. You can skim through it although you do not have to understand everything, it is modified based on the official code example list below.
some other useful links:
-
Official code example of using the sensor
-
Sensor structure STL and URDF (you will need for calibrating the kinematic model)
I have provided an operational space + kp controller example in this repo.
- Please read through each line of the code, if you do not understand why I have certain line there, ask.
- The example code will need to run under sudo because the force sensor part of it will access the serial port. If you remove it, no need for sudo anymore. There is a safety check for force limit over 20N. If you do not calibrate the force sensor well, the safety check will not work properly.
- Make sure you know every parameter in the charmander.yml
Shuozhe Li (06/19/2023)