Gym Franka Server

The is the server-side code intended to run on a realtime kernel with ros-noetic and franka-ros installed. We implement a cartesian impedance controller to control the robot.

We provide a gymnasium environment to interface with the server: Gym Franka Client.

Getting started

1. Setup franka-ros for ros-noetic as guided in https://frankaemika.github.io/docs/installation_linux.html.
2. Clone this repository.
3. Run bash ./setup.sh from the project's directory.
4. Start a new terminal so the workspace is properly sourced.

Additional setups

1. To provent the CPU from entering Powersave mode and causing communication delays, install indicator-cpufreq by running sudo apt-get install indicator-cpufreq and change to Performance mode.

2. Configure the environment variables to match your networking setup.

   export SERVER_IP=192.168.xx.xx  # The IP of the server (this PC)
   export FCI_IP=192.168.xx.xx  # The IP of the franka control box

Launching the server

python3 gym_franka_server.py

Move to Home Position

roslaunch gym_franka_server home.launch robot_ip:=$FCI_IP

Controlling with a Mobile Device

We provide a teleoperation example. The iOS app is available on the App Store: XR-Controller.

roslaunch gym_franka_server ci_socket.launch robot_ip:=$FCI_IP address:=$SERVER_IP port:=6789 client:=iOS