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System setup

Real-time computer = 192.168.1.111 gpu computer ip = 192.168.1.110 franka robot ip = 192.168.1.107

Installation instructions

In realtime computer

conda create -n polymetis python=3.8
conda activate polymetis
conda install -c pytorch -c fair-robotics -c aihabitat -c conda-forge polymetis

In GPU computer

conda create -n polymetis python=3.8
conda activate polymetis
conda install -c pytorch -c fair-robotics -c aihabitat -c conda-forge polymetis
git clone https://github.com/rvl-lab-utoronto/gello_software 
Install dependancies for gello_software

Instructions to run

In realtime computer

In terminal 1, start robot arm control server

conda activate polymetis
launch_robot.py robot_client=franka_hardware robot_client.executable_cfg.robot_ip=192.168.1.107   robot_client.executable_cfg.control_ip=192.168.1.111 ip=192.168.1.111 port=5002

In terminal 2, start robot gripper control server

conda activate polymetis
launch_gripper.py gripper=franka_hand gripper.executable_cfg.robot_ip=192.168.1.107  gripper.executable_cfg.control_ip=192.168.1.111 ip=192.168.1.111 port=5001

In GPU computer

In terminal 1, start robot data zmq server

cd gello_software
conda activate polymetis
python experiments/launch_nodes.py --robot=panda --robot-port=50051 --hostname=192.168.1.110 --robot-ip=192.168.1.111 --gripper-client-port=5002 --robot-client-port=5001 --gripper-ip=192.168.1.111

start camera servers if cameras exist

In terminal 2, start the server to read gello's dynamixel

python experiments/run_env.py --agent=gello --hostname=192.168.1.111 --robot-port=50051