[**[Documentation]**](https://zhuyifengzju.github.io/deoxys_docs/html/index.html)   Deoxys is a modular, real-time controller library for Franka Emika Panda arm, aiming to facilitate a wide range of robot learning research. Deoxys comes with a user-friendly python interface and real-time controller implementation in C++. If you are a [robosuite](https://github.com/ARISE-Initiative/robosuite) user, Deoxys APIs provide seamless transfer from you simulation codebase to real robot experiments! https://user-images.githubusercontent.com/21077484/206338997-8dbaa128-dc63-4911-84ca-64d80a05673f.mp4 ## Cite our codebase If you use this codebase for your research projects, please cite our codebase based on the following project: ``` @article{zhu2022viola, title={VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors}, author={Zhu, Yifeng and Joshi, Abhishek and Stone, Peter and Zhu, Yuke}, journal={arXiv preprint arXiv:2210.11339}, doi={10.48550/arXiv.2210.11339}, year={2022} } ``` # Installation of codebase Overall, the installation has three parts: 1. Install dependencies by running `InstallPackage` 2. Compile desktop-side codebase (Python) 3. Compile NUC-side codebase (C++) Here are the details. For more information, please refer to the [Codebase Installation Page](https://ut-austin-rpl.github.io/deoxys-docs/html/installation/codebase_installation.html). Clone this repo to the robot workspace directory on Desktop computer (e.g. `/home/USERNAME/robot-control-ws`) ``` shell cd deoxys_control/deoxys ``` ## Install dependencies Run the `InstallPackage` file to install necessary packages. ``` shell ./InstallPackage ``` ## Deoxys - Desktop Make sure that you are in your python virtual environment before building this. ``` shell make -j build_deoxys=1 ``` And install all the python dependencies (feel free to add pull requests if anything is missing) from `deoxys_control/requirements.txt`, by doing: ```shell pip install -U -r requirements.txt ``` ## Franka Interface - Intel NUC Franka Interface is the part which is supposed to run on NUC. Run this command in directory `deoxys_control/deoxys/` on Intel NUC. ``` shell make -j build_franka=1 ``` ## A laundry list of pointers: - [How to turn on/off the robot](https://ut-austin-rpl.github.io/deoxys-docs/html/tutorials/running_robots.html) - [How to install spacemouse](https://ut-austin-rpl.github.io/deoxys-docs/html/tutorials/using_teleoperation_devices.html) - [How to set up the RTOS](https://ut-austin-rpl.github.io/deoxys-docs/html/installation/system_prerequisite.html) - [How to record and replay a trajectory](https://ut-austin-rpl.github.io/deoxys-docs/html/tutorials/record_and_replay.html) - [How to write a simple motor program](https://ut-austin-rpl.github.io/deoxys-docs/html/tutorials/handcrafting_motor_program.html) # Control the robot ## Commands on Desktop Here is a quick guide to run `Deoxys`. Under `deoxys_control/deoxys`, run ``` shell python examples/run_deoxys_with_space_mouse.py ``` Change 1) spacemouse vendor_id and product_id ([here](https://github.com/UT-Austin-RPL/deoxys_control/blob/eb8d69f7f0838389fca81cac6b250ba05fc97f92/deoxys/examples/run_deoxys_with_space_mouse.py#L19)) 2) robot interface config ([here](https://github.com/UT-Austin-RPL/deoxys_control/blob/eb8d69f7f0838389fca81cac6b250ba05fc97f92/deoxys/examples/run_deoxys_with_space_mouse.py#L16)) if necessary. You might also check and change the PC / NUC names [here](https://github.com/UT-Austin-RPL/deoxys_control/blob/master/deoxys/config/charmander.yml). ## Commands on Control PC (Intel NUC) Under `deoxys_control/deoxys`, run two commands. One for real-time control of the arm, one for non real-time control of the gripper. ``` shell bin/franka-interface config/charmander.yml ``` ``` shell bin/gripper-interface config/charmander.yml ```