FlexivPy

Instructions Machines in Motion

1 - Turn on the robot, connect the ethernet cabel, put the safety switch up, slider should on position with two arrows up.

2 - Check that we can talk to the robot.

ping 192.168.2.100

3 - Compile the robot server. From the root of the FlexivPy repository:

cd FlexivPy/cpp
mkdir && cd build
cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX
make

with gripper

sudo ./robot_server -g --path ../../assets/ -rcf ../config.yaml

withour gripper remove -g

use

sudo ./robot_server --help to see all flags

There are a lot of command line options! If the robot is using the Flexiv gripper add -g. Check them all with:

sudo ./robot_server --help

Do not deactivate safety checks without reading the c++ code before and asking people from the lab.

4 - Run the hello world example from Python in another terminal.

PYTHONPATH=. python examples/hello_world.py --mode=real

Now you can run your code!

Before running on the real robot, try out the synchronous mujoco simulation and the asynchronous mujoco simulation.

Run for example:

PYTHONPATH=. python examples/hello_world.py --mode=sim
PYTHONPATH=. python examples/hello_world.py --mode=sim_async

Experiments:

• in state: send the joint torque as a msg!
• One joint: how high the gains? X Compare grav. compensation. NO Urdf with better dynamical model. X Task space impedance (moving one, rigid another)
• Excert force without/with Force sensor - z axis control using measurement of force X More security checks.
• Reaching task using Croccodyll X Option to do grav. comp. with MUJOCO. X Rerun integration X Camera simulation X IK controller X Smooth Polynomials X Run controller by controller interface
• Camera in real
• Vicon?/
• Visual Markers with camera

Dependencies

We recommend to install all packages in a conda environment!

conda install conda-forge::cmake
conda install conda-forge::mim-solvers

Async Simulation

We need Cyclone DDS with Python Bindings

git clone https://github.com/eclipse-cyclonedds/cyclonedds
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
cmake --build . --config Release --target install
cd ..
export CYCLONEDDS_HOME=$CONDA_PREFIX
pip3 install git+https://github.com/eclipse-cyclonedds/cyclonedds-python

Real Robot

We need Cyclone DDS with both C++ bindings and Python Bindings

(see Async simulation to install first cyclone DDS with Python Bindings)

git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx
cd cyclonedds-cxx && mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX ..
cmake --build .
cmake --build . --target install
cd ../..

Install Flexiv Sdk

Follow the instructions in:

https://github.com/flexivrobotics/flexiv_rdk

git clone https://github.com/flexivrobotics/flexiv_rdk
cd flexiv_rdk/thirdparty
bash build_and_install_dependencies.sh $CONDA_PREFIX
cd ..
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX -DINSTALL_PYTHON_RDK=OFF
cd flexiv_rdk/build
cmake --build . --target install --config Release
cd ../..

Acknowledgement

This repository is inspired by:

https://github.com/Rooholla-KhorramBakht/go2Py

https://github.com/Rooholla-KhorramBakht/FR3Py

https://github.com/machines-in-motion/dynamic_graph_head