Reading Order (very important !):

1. Hardware Setting
2. real-time kernal.md
   Before you using Franka FCI, you MUST set up real-time kernal first, because real-time kernal will make sure that the rate of control reaches 1kHz without delay. see more details in real-time kernal.md
3. libfranka
4. franka-interface
5. frankapy (current markdown)

frankapy

Reference

1. https://github.com/iamlab-cmu/frankapy

2. https://iamlab-cmu.github.io/frankapy/index.html

Introduction

This is a software package used for controlling and learning skills on the Franka Research Arm (Emika Panda and Franka Research 3)

Installation Instructions and Network Configuration Instructions are also available here: https://iamlab-cmu.github.io/frankapy

To join the Discord community, click the link here.

System Requirements

• A computer with the Ubuntu 18.04 / 20.04.
• ROS Melodic / Noetic
• Protocol Buffers

Computer Setup Instructions

This library is intended to be installed on any computer in the same ROS network with the computer that interfaces with the Franka (we call the latter the Control PC). FrankaPy will send commands to franka-interface, which actually controls the robot.

1. Install ProtoBuf

This is only needed if you plan to modify the proto messages. You don't need to install or compile protobuf for using frankapy

We use both C++ and Python versions of protobufs so you would need to install Protobufs from source.

Do nproc to find out how many cores you have, and use that as the N number in the make command below:

nproc

output (this is just an example of my computer)

12

then execute

sudo apt-get install autoconf automake libtool curl make g++ unzip
cd $HOME/Franka/
wget https://github.com/protocolbuffers/protobuf/releases/download/v21.8/protobuf-all-21.8.zip
unzip protobuf-all-21.8.zip
cd protobuf-21.8
./configure
make -jN
make check -jN
sudo make install
sudo ldconfig

See detailed instructions here

2. Installation

1. Clone Repo and its Submodules:

cd $HOME/Franka
git clone --recurse-submodules [email protected]:iamlab-cmu/frankapy.git   

All directories below are given relative to /frankapy.

2. First source into your virtualenv or conda env (should be Python 3.6). Then:

pip install -e .

output

   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.6/1.6 MB 2.9 MB/s eta 0:00:00
Downloading ruamel.yaml.clib-0.2.12-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (724 kB)
   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 724.9/724.9 kB 1.9 MB/s eta 0:00:00
Downloading threadpoolctl-3.5.0-py3-none-any.whl (18 kB)
Downloading tifffile-2024.8.30-py3-none-any.whl (227 kB)
Building wheels for collected packages: empy
  Building wheel for empy (setup.py) ... done
  Created wheel for empy: filename=empy-3.3.4-py3-none-any.whl size=29380 sha256=3ab9fd8ace346824ddf8cdb8a09722661c6af2c4c350ad90f872849a0175e684
  Stored in directory: /home/robotics/.cache/pip/wheels/c7/0a/c4/a0dc05ea753ca932849616e1c1886ad3c50aaa2c8f09c6a552
Successfully built empy
Installing collected packages: empy, threadpoolctl, setproctitle, ruamel.yaml.clib, protobuf, numpy, networkx, llvmlite, joblib, dill, colorlog, tifffile, ruamel.yaml, opencv-python, numpy-quaternion, numba, multiprocess, imageio, scikit-learn, scikit-image, autolab_core, frankapy
  Attempting uninstall: empy
    Found existing installation: empy 4.2
    Uninstalling empy-4.2:
      Successfully uninstalled empy-4.2
  Attempting uninstall: numpy
    Found existing installation: numpy 2.0.1
    Uninstalling numpy-2.0.1:
      Successfully uninstalled numpy-2.0.1
  DEPRECATION: Legacy editable install of frankapy==1.0.0 from file:///home/robotics/Franka/frankapy (setup.py develop) is deprecated. pip 25.1 will enforce this behaviour change. A possible replacement is to add a pyproject.toml or enable --use-pep517, and use setuptools >= 64. If the resulting installation is not behaving as expected, try using --config-settings editable_mode=compat. Please consult the setuptools documentation for more information. Discussion can be found at https://github.com/pypa/pip/issues/11457
  Running setup.py develop for frankapy
Successfully installed autolab_core-1.1.1 colorlog-6.9.0 dill-0.3.9 empy-3.3.4 frankapy imageio-2.37.0 joblib-1.4.2 llvmlite-0.43.0 multiprocess-0.70.17 networkx-3.2.1 numba-0.60.0 numpy-1.26.4 numpy-quaternion-2023.0.4 opencv-python-4.11.0.86 protobuf-6.30.0 ruamel.yaml-0.18.10 ruamel.yaml.clib-0.2.12 scikit-image-0.24.0 scikit-learn-1.6.1 setproctitle-1.3.5 threadpoolctl-3.5.0 tifffile-2024.8.30

3. To compile the catkin_ws use the following script:

• bash

source ~/Franka/frankapy/catkin_ws/devel/setup.bash --extend

• zsh

source ~/Franka/frankapy/catkin_ws/devel/setup.zsh --extend

compile

./$HOME/Franka/frankapy/bash_scripts/make_catkin.sh

bug

/home/ubuntu/Franka/frankapy/bash_scripts/make_catkin.sh: 第 1 行： cd: $'catkin_ws\r': 没有那个文件或目录
usage: catkin [-h] [-a] [--test-colors] [--version]
              [--force-color | --no-color]
              [build | clean | config | create | env | init | list | locate | profile | test]
              ...
 
' provided.own verb 'build

solution

sudo apt-get install dos2unix
dos2unix $HOME/Franka/frankapy/bash_scripts/make_catkin.sh

4. To allow asynchronous gripper commands,

we use the franka_ros package, so install libfranka and franka_ros using the following command

• noetic

sudo apt install ros-noetic-libfranka ros-noetic-franka-ros

5. To make the protobufs use the following script (you don't need to do this if you haven't modified the proto messages):

./$HOME/Franka/frankapy/bash_scripts/make_proto.sh

3. Configuring the network with the Control PC

4. Running the Franka Robot

1. unlock the FR3 via Franka Desk GUI

1. Desk Setting

chrome输入机械臂控制器ip地址进入Desk

2. activate joint

会听到喀哒喀哒的解锁声音

之后状态变成这样

然后激活FCI

显示这样的状态证明激活

make sure the operations option in Execution option so that can use programs to control

2. modify the sh file according to your computer

control_pc_uname="robotics"
control_pc_use_password=0
control_pc_password=""
control_pc_franka_interface_path="/home/robotics/Franka/franka-interface"
start_franka_interface=1
robot_number=1
robot_ip="192.168.1.10"
with_gripper=1
old_gripper=0
log_on_franka_interface=0
stop_on_error=0

here you should set

1. control_pc_uname: your ubuntu name
2. control_pc_franka_interface_path: your franka-interface path
3. robot_ip: your FR3 control unit ip

3. control the FR3

bash ./$HOME/Franka/frankapy/bash_scripts/start_control_pc.sh -i localhost

弹出4个窗口且没有报错则证明运行成功

bug

/home/ubuntu/Franka/frankapy/bash_scripts/start_control_pc.sh: 行 2: $'\r'：未找到命令
/home/ubuntu/Franka/frankapy/bash_scripts/start_control_pc.sh: 行 3: 未预期的符号“$'{\r'”附近有语法错误
'home/ubuntu/Franka/frankapy/bash_scripts/start_control_pc.sh: 行 3: `die () {

solution

dos2unix $HOME/Franka/frankapy/bash_scripts/start_control_pc.sh

4. set the environment

• zsh

sudo vim ~/.zshrc

source $HOME/Franka/frankapy/catkin_ws/devel/setup.zsh

• bash

sudo vim ~/.bashrc

source $HOME/Franka/frankapy/catkin_ws/devel/setup.bash

5. initialize the FR3

python $HOME/Franka/frankapy/scripts/reset_arm.py

output

WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
Starting robot
Reset with joints
Opening Grippers

bug

WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
Traceback (most recent call last):
  File "/home/ubuntu/Franka/frankapy/scripts/reset_arm.py", line 2, in <module>
    from frankapy import FrankaArm
  File "/home/ubuntu/Franka/frankapy/frankapy/__init__.py", line 1, in <module>
    from .franka_arm import FrankaArm
  File "/home/ubuntu/Franka/frankapy/frankapy/franka_arm.py", line 23, in <module>
    from .skill_list import *
  File "/home/ubuntu/Franka/frankapy/frankapy/skill_list.py", line 10, in <module>
    from .proto import *
  File "/home/ubuntu/Franka/frankapy/frankapy/proto/__init__.py", line 1, in <module>
    from .feedback_controller_params_msg_pb2 import *
  File "/home/ubuntu/Franka/frankapy/frankapy/proto/feedback_controller_params_msg_pb2.py", line 5, in <module>
    from google.protobuf.internal import builder as _builder
ImportError: cannot import name 'builder'

solution

protobuf版本过低，卸载后下载新的

pip install protobuf==4.21.0

3. teach mode

python $HOME/Franka/frankapy/scripts/run_guide_mode.py

output

Starting robot
Applying 0 force torque control for 100s
Tra: [0.30519667 0.17031028 0.47904631]
 Rot: [[ 0.88890429  0.40035878  0.2226252 ]
 [ 0.40509148 -0.91390459  0.02606254]
 [ 0.21389255  0.06701647 -0.97455568]]
 Qtn: [0.01053589 0.97177216 0.2072117  0.11229941]
 from franka_tool to world
[-0.25088293 -0.97060835  0.51566798 -2.42281932  0.42787614  1.74904618
  0.44488596]

4. close gripper

python $HOME/Franka/frankapy/scripts/close_gripper.py

5. open gripper

python $HOME/Franka/frankapy/scripts/open_gripper.py

夹爪控制的话DESK会显示报错，这个不影响程序控制

6. get joint.py

python $HOME/Franka/frankapy/control/getJ.py

7. get ee 6 dof pose

python $HOME/Franka/frankapy/control/getP.py

8. ee 6 dof pose control

python $HOME/Franka/frankapy/control/moveP.py

9. joint position control

python $HOME/Franka/frankapy/control/moveJ.py

10. record trajectory

python  $HOME/Franka/frankapy/scripts/record_trajectory.py

默认记录10s轨迹数据，数据存储在frankapy下，文件名为franka_traj.pkl

11. run record trajectory

python scripts/run_recorded_trajectory.py -t franka_traj.pkl

See example scripts in the examples/ and scripts/ to learn how to use the FrankaPy python package.

Citation

If this library proves useful to your research, please cite the paper below::

@article{zhang2020modular,
title={A modular robotic arm control stack for research: Franka-interface and frankapy},
author={Zhang, Kevin and Sharma, Mohit and Liang, Jacky and Kroemer, Oliver},
journal={arXiv preprint arXiv:2011.02398},
year={2020}
}