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.doctrees/nbsphinx/tutorials/1d-real.ipynb

@@ -16,7 +16,9 @@
    "metadata": {},
    "source": [
     "### Basic Checklist for operating a Franka\n",
+    "\n",
     "For a full franka setup description see https://frankaemika.github.io/docs/getting_started.html. Here just a minimal checklist for operating a Franka:\n",
+    "\n",
     "* Is the a real time kernel running? Check `uname -r`. The kernel name should end with -rt*\n",
     "* Is the user in `dialout` and `realtime` group? Check with `groups`. If not, add with `sudo usermod -a -G realtime <username>` and `sudo usermod -a -G dialout <username>`, and log out and in (or reboot) and check again.\n",
     "* Is the robot ready? E.g. at https://172.16.0.2/desk/. Are joints unlocked and status Ready?\n",

_sources/tutorials/1d-real.ipynb.txt

@@ -16,7 +16,9 @@
    "metadata": {},
    "source": [
     "### Basic Checklist for operating a Franka\n",
+    "\n",
     "For a full franka setup description see https://frankaemika.github.io/docs/getting_started.html. Here just a minimal checklist for operating a Franka:\n",
+    "\n",
     "* Is the a real time kernel running? Check `uname -r`. The kernel name should end with -rt*\n",
     "* Is the user in `dialout` and `realtime` group? Check with `groups`. If not, add with `sudo usermod -a -G realtime <username>` and `sudo usermod -a -G dialout <username>`, and log out and in (or reboot) and check again.\n",
     "* Is the robot ready? E.g. at https://172.16.0.2/desk/. Are joints unlocked and status Ready?\n",

tutorials/1d-real.html

@@ -100,9 +100,20 @@ <h1>Starting with a real robot<a class="headerlink" href="#Starting-with-a-real-
 <p>The BotOp interface should work equally for a simulated and real robot. Note that currently only a locally compiled robotic package supports connecting to a Franka robot and Realsense camera. Here some first cautious steps to get started with a real robot.</p>
 <section id="Basic-Checklist-for-operating-a-Franka">
 <h2>Basic Checklist for operating a Franka<a class="headerlink" href="#Basic-Checklist-for-operating-a-Franka" title="Link to this heading"></a></h2>
-<p>For a full franka setup description see <a class="reference external" href="https://frankaemika.github.io/docs/getting_started.html">https://frankaemika.github.io/docs/getting_started.html</a>. Here just a minimal checklist for operating a Franka: * Is the a real time kernel running? Check <code class="docutils literal notranslate"><span class="pre">uname</span> <span class="pre">-r</span></code>. The kernel name should end with -rt Is the user in <code class="docutils literal notranslate"><span class="pre">dialout</span></code> and <code class="docutils literal notranslate"><span class="pre">realtime</span></code> group? Check with <code class="docutils literal notranslate"><span class="pre">groups</span></code>. If not, add with <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">usermod</span> <span class="pre">-a</span> <span class="pre">-G</span> <span class="pre">realtime</span> <span class="pre">&lt;username&gt;</span></code> and <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">usermod</span> <span class="pre">-a</span> <span class="pre">-G</span> <span class="pre">dialout</span> <span class="pre">&lt;username&gt;</span></code>, and log out and in (or reboot) and check again. * Is the robot ready?
-E.g. at <a class="reference external" href="https://172.16.0.2/desk/">https://172.16.0.2/desk/</a>. Are joints unlocked and status Ready? * Test the console tool <code class="docutils literal notranslate"><span class="pre">ry-bot</span> <span class="pre">-real</span> <span class="pre">-up</span></code>. (See <code class="docutils literal notranslate"><span class="pre">ry-bot</span> <span class="pre">-h</span></code> for other test commands, e.g. homing.) Potential issues: * Stalls when connecting to Franka - are the Franka IP addresses ({“172.16.0.2”, “172.17.0.2”} in franka.cpp) correct? * Franka not Ready or can’t move - check as above? * Error message “== ERROR:franka.cpp:init:356(-2) not implemented with this compiler options”. Do you use the pypi package instead
-of a locally compiled package? Did you enable USE_LIBFRANKA with cmake? Did you <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>? * When executing the cell below, check whether <code class="docutils literal notranslate"><span class="pre">print(ry.compiled())</span></code> prints the correct compile time.</p>
+<p>For a full franka setup description see <a class="reference external" href="https://frankaemika.github.io/docs/getting_started.html">https://frankaemika.github.io/docs/getting_started.html</a>. Here just a minimal checklist for operating a Franka:</p>
+<ul class="simple">
+<li><p>Is the a real time kernel running? Check <code class="docutils literal notranslate"><span class="pre">uname</span> <span class="pre">-r</span></code>. The kernel name should end with -rt*</p></li>
+<li><p>Is the user in <code class="docutils literal notranslate"><span class="pre">dialout</span></code> and <code class="docutils literal notranslate"><span class="pre">realtime</span></code> group? Check with <code class="docutils literal notranslate"><span class="pre">groups</span></code>. If not, add with <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">usermod</span> <span class="pre">-a</span> <span class="pre">-G</span> <span class="pre">realtime</span> <span class="pre">&lt;username&gt;</span></code> and <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">usermod</span> <span class="pre">-a</span> <span class="pre">-G</span> <span class="pre">dialout</span> <span class="pre">&lt;username&gt;</span></code>, and log out and in (or reboot) and check again.</p></li>
+<li><p>Is the robot ready? E.g. at <a class="reference external" href="https://172.16.0.2/desk/">https://172.16.0.2/desk/</a>. Are joints unlocked and status Ready?</p></li>
+<li><p>Test the console tool <code class="docutils literal notranslate"><span class="pre">ry-bot</span> <span class="pre">-real</span> <span class="pre">-up</span></code>. (See <code class="docutils literal notranslate"><span class="pre">ry-bot</span> <span class="pre">-h</span></code> for other test commands, e.g. homing.) Potential issues:</p>
+<ul>
+<li><p>Stalls when connecting to Franka - are the Franka IP addresses ({“172.16.0.2”, “172.17.0.2”} in franka.cpp) correct?</p></li>
+<li><p>Franka not Ready or can’t move - check as above?</p></li>
+<li><p>Error message “== ERROR:franka.cpp:init:356(-2) not implemented with this compiler options”. Do you use the pypi package instead of a locally compiled package? Did you enable USE_LIBFRANKA with cmake? Did you <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>?</p></li>
+<li><p>When executing the cell below, check whether <code class="docutils literal notranslate"><span class="pre">print(ry.compiled())</span></code> prints the correct compile time.</p></li>
+</ul>
+</li>
+</ul>
 <section id="First-robot-motion,-camera-&amp;-pcl,-and-gripper-motion">
 <h3>First robot motion, camera &amp; pcl, and gripper motion<a class="headerlink" href="#First-robot-motion,-camera-&-pcl,-and-gripper-motion" title="Link to this heading"></a></h3>
 <div class="nbinput docutils container">

tutorials/1d-real.ipynb

@@ -16,7 +16,9 @@
    "metadata": {},
    "source": [
     "### Basic Checklist for operating a Franka\n",
+    "\n",
     "For a full franka setup description see https://frankaemika.github.io/docs/getting_started.html. Here just a minimal checklist for operating a Franka:\n",
+    "\n",
     "* Is the a real time kernel running? Check `uname -r`. The kernel name should end with -rt*\n",
     "* Is the user in `dialout` and `realtime` group? Check with `groups`. If not, add with `sudo usermod -a -G realtime <username>` and `sudo usermod -a -G dialout <username>`, and log out and in (or reboot) and check again.\n",
     "* Is the robot ready? E.g. at https://172.16.0.2/desk/. Are joints unlocked and status Ready?\n",