diff --git a/.doctrees/environment.pickle b/.doctrees/environment.pickle index 6a79578e3..ffdd080ce 100644 Binary files a/.doctrees/environment.pickle and b/.doctrees/environment.pickle differ diff --git a/.doctrees/nbsphinx/tutorials/1d-real.ipynb b/.doctrees/nbsphinx/tutorials/1d-real.ipynb index 0a59137fe..9a647be31 100644 --- a/.doctrees/nbsphinx/tutorials/1d-real.ipynb +++ b/.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 ` and `sudo usermod -a -G dialout `, 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", diff --git a/.doctrees/tutorials/1d-real.doctree b/.doctrees/tutorials/1d-real.doctree index ae6f3b34d..9eea4e142 100644 Binary files a/.doctrees/tutorials/1d-real.doctree and b/.doctrees/tutorials/1d-real.doctree differ diff --git a/_sources/tutorials/1d-real.ipynb.txt b/_sources/tutorials/1d-real.ipynb.txt index 0a59137fe..9a647be31 100644 --- a/_sources/tutorials/1d-real.ipynb.txt +++ b/_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 ` and `sudo usermod -a -G dialout `, 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", diff --git a/tutorials/1d-real.html b/tutorials/1d-real.html index 53e2a7042..0a16623fe 100644 --- a/tutorials/1d-real.html +++ b/tutorials/1d-real.html @@ -100,9 +100,20 @@

Starting with a real robot

Basic Checklist for operating a Franka

-

For a full franka setup description see https://frankaemika.github.io/docs/getting_started.html. Here just a minimal checklist for operating a Franka: * Is the a real time kernel running? Check uname -r. The kernel name should end with -rt 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. * Is the robot ready? -E.g. at https://172.16.0.2/desk/. Are joints unlocked and status Ready? * Test the console tool ry-bot -real -up. (See ry-bot -h 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 make install? * When executing the cell below, check whether print(ry.compiled()) prints the correct compile time.

+

For a full franka setup description see https://frankaemika.github.io/docs/getting_started.html. Here just a minimal checklist for operating a Franka:

+
    +

  • Is the a real time kernel running? Check uname -r. The kernel name should end with -rt*

    • +

  • 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.

    • +

  • Is the robot ready? E.g. at https://172.16.0.2/desk/. Are joints unlocked and status Ready?

    • +

  • Test the console tool ry-bot -real -up. (See ry-bot -h 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 make install?

      • +

    • When executing the cell below, check whether print(ry.compiled()) prints the correct compile time.

      • +
    +
    • +

First robot motion, camera & pcl, and gripper motion

diff --git a/tutorials/1d-real.ipynb b/tutorials/1d-real.ipynb index 0a59137fe..9a647be31 100644 --- a/tutorials/1d-real.ipynb +++ b/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 ` and `sudo usermod -a -G dialout `, 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",