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RVL University of Toronto

This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.

Running the Panda Arm through ROS or OpenAI Gym

We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.

Installation on the NUC machine

We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.

cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine

We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.

cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control

The joystick can be connected either to the NUC or to the GPU machine.

Then run the following on the NUC:

roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):

roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.

Creating, Editing, and Installing OpenAI Gym Environments

We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run

cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.

Running OpenAI Gym Environments

Run the following on the NUC:

roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:

roslaunch panda_robot kinect_azure.launch

and

cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally will reset to the home configuration.

Contributors

@florianshkurti @homangab @cheneyuwu

About

Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces.

Resources

Readme
Activity
Custom properties

Stars

1 star

Watchers

1 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
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})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
BranchesTags
Repository files navigation
RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
Activity
Custom properties
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
Activity
Custom properties
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
Activity
Custom properties
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
Activity
Custom properties
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
Activity
Custom properties
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
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RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
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Custom properties
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1 star
Watchers
1 watching
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0 forks
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Skip to content
BranchesTags
Repository files navigation
RVL University of Toronto
This repository contains instructions for creating Gym like interfaces through ROS using the real Franka Emika Panda arm, for prototyping RL algorithms.
Running the Panda Arm through ROS or OpenAI Gym
We assume there are two Ubuntu 18.04 machines: one running real-time Linux (let's assume it's an Intel NUC), called NUC and connected directly to the Franka FCI computer via the network 192.168.131.x, and another (let's assume it's a GPU-enabled machine), called GPU and connected to the NUC via the network 192.168.132.x. We assume you have followed the instructions for setting up ROS communication between different machines.
Installation on the NUC machine
We assume ROS Melodic and libfranka 0.5, franka_ros have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Installation on the GPU machine
We assume ROS Melodic, libfranka 0.5, franka_ros, OpenAI gym, and the Kinect Azure drivers have already been installed. Note: please install franka_ros from source, not as a binary through apt-get. Checkout the melodic-devel branch.
cd ~/catkin_ws/src
git clone https://github.com/rvl-lab-utoronto/panda_robot.git
cd ..
catkin_make

Live Joystick Control
The joystick can be connected either to the NUC or to the GPU machine.
Then run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU (or NUC):
roslaunch panda_robot franka_arm_vel_joy.launch

Use the two axes of the joystick to control the end effector in cartesian velocity mode. Press the red button to set the arm to home configuration, using joint position control.
Creating, Editing, and Installing OpenAI Gym Environments
We provide a sample reacher environment in ~/catkin_ws/src/panda_robot/src/gym-panda-robot/gym_panda_robot/envs/panda_reacher_env.py In order to install it in your system and make it available to any RL algorithm, you need to run
cd ~/catkin_ws/src/panda_robot/src/gym-panda-robot
sudo pip install --upgrade --force-reinstall -e .

You need to run this every time you update the reacher environment or you declare new environments in the envs directory.
Running OpenAI Gym Environments
Run the following on the NUC:
roslaunch panda_robot panda_robot.launch

and the following on the GPU machine:
roslaunch panda_robot kinect_azure.launch

and
cd ~/catkin_ws/src/panda_robot/src
python panda_env_test.py

This simple test should make the robot move along the x,y and z axes in cartesian velocity mode, and occasionally
will reset to the home configuration.
Contributors
@florianshkurti @homangab @cheneyuwu
About
Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces. 
Resources
Readme
Activity
Custom properties
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages