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FrankaInterface (Server): scripts_real/launch_franka_interface_server.py (L7)
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FrankaInterface (Client): umi/real_world/franka_interpolation_controller.py (L36)
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FrankaInterpolationController: umi/real_world/franka_interpolation_controller.py (L71)
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Follow the documentation to install Polymetis on a computer with realtime kernel (i.e., NUC in our example).
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Launch FrankaInterface Server on NUC.
python scripts_real/launch_franka_interface_server.py -
(optional) Now you should be able to control the Franka arm using a space mouse on another desktop, the one you are going to run the robot policy on.
python scripts_real/control_franka.py -
Change eval_robots_config.yaml/robots/robot_type to
'franka'. This will change the robot controller in umi_env (L233). -
Obtain IP address and update eval_robots_config.yaml/robots/robot_ip.
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On the Franka interface website
- Set mass to 1.8 kg
- Set Flange to Center of Mass of Load Vector to (0.064, -0.06, 0.03)m.
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Then you should be able to launch the evaluation on the franka arm.
python eval_real.py --robot_config=example/eval_robots_config.yaml -i cup_wild_vit_l.ckpt -o data/eval_cup_wild_example