Mikhail Koptev's Obstacle Avoidance Demo README

This code comes from several repositories and has been re-structured to be used easily to start Mikhail KOPTEV's Obstacle Avoidance demo at LASA.

Structure

This demo needs 3 computers :

• PANDA_PC : with RT/os, runs flwi interface and torque controller
• RTX_PC : with good GPU, runs NN and optitrack bridge
• Optitrack PC : Windows, runs motive and streams optitrack This demo uses 3 dockers :
• franka-lightweight-interface: to be run on the computer connected to the panda (called PANDA_PC), used to communicate with the robot
• optitrack : used to publish optitrack info using zmq, should be run on RTX_PC
• koptev-demo : used to run all python code from Mikhail, should be run on RTX_PC (except franka_zmq_bridge which should run on computer connected to panda)

Note : docker commands rely on aica-docker scripts which should be installed on compputers sued for the demo.

Optitrack

Need these two assets with these specific IDs:

• ball_koptev : ID = 1001
• franka_base17 : ID = 1096 To use human spehres :
• neck : ID = 1002
• pelvis : ID = 1003
• right_elbow : ID = 1004
• right_wrist : ID = 1005
• left_elbow : ID = 1006
• left_wrist : ID = 1007

RUN DEMO

Open the 3 docker containers :

• fwli on computer connected to panda
• optitrack and koptev-demo on RTX_PC

Make sure the IP adresses are correct and communication runs smoothly. These can be checked in the ds_mppi/config.yaml file and in franka_zmq_bridge/bridge_torque_controller.py

Then run the following commands.

Terminal 1 - Connect to the robot

On PANDA_PC

cd ~/Workspace/koptev_demo/dependencies/franka-lightweight-interface
bash run-rt.sh
franka_lightweight_interface 17 panda_ --sensitivity low --joint-damping off

Terminal 2 - Optitrack bridge

On RTX_PC

cd ~/Workspace/koptev_demo/dependencies/optitrack
bash docker-build.sh (IF never build before)
bash docker-run.sh

Build and start docker commands

All the next commands must be run from inside the koptev-demo container, which can be build and start with these commands :

cd ~/Workspace/koptev_demo
bash docker/build-image.sh
bash docker/start-docker.sh

Terminal 3 - Torque control bridge for robot

On PANDA_PC

cd ~/Workspace/koptev_demo
bash docker/start-docker.sh -m connect
cd franka_zmq_bridge/
python3 bridge_torque_controller.py

Terminal 4 - Tracking obstacles with optitrack

On RTX_PC

cd ~/Workspace/koptev_demo
bash docker/start-docker.sh -m connect
cd ds_mppi/
python3 obstacleStreamerOptitrack.py

Terminal 5 - Pybullet Simulation (OPTIONAL, only for visual display)

On Panda_PC (if doesn't slow things down)

cd ~/Workspace/koptev_demo
bash docker/start-docker.sh -m connect
cd ds_mppi/
python3 pbSim.py

Terminal 6 - Integrator Feedback

On RTX_PC

cd ~/Workspace/koptev_demo
bash docker/start-docker.sh -m connect
cd ds_mppi/
python3 frankaIntegratorFeedback.py

Terminal 7 - Optimization for concave obstacles (OPTIONAL)

On RTX_PC Planner (optim thingy) for concave obstacles -> do not launch unless you have good computer

cd ~/Workspace/koptev_demo
bash docker/start-docker.sh -m connect
cd ds_mppi/
python3 frankaPlanner.py

Sources

Code originally comes from these repos and has been restructured to be easily used :

https://github.com/epfl-lasa/OptimalModulationDS

https://github.com/m-koptev/franka_zmq_bridge

https://github.com/m-koptev/optitrack_lasa

Authors/Maintainers

Mikhail KOPTEV ([email protected]) Maxime GAUTIER ([email protected])