Test scripts for frankapy control

[Ruthrash]

pull request for the test scripts for frankapy controllers. Have couple of tests working now, more tests to be added

[Ruthrash]

Hey all please review this pull request for the following changes:

• 4 scripts testing position control with frankapy has been implemented along with documentation, you can find them here
• new "scratchpad" folder in the hostmachine inside franka_arm_infra/docker/scratchpad that will be mounted inside the workstaion docker machine at /root/git/scratchpad. This can be used for development in the host machine and run inside the docker.
• You would have to probably "build" or "up" workstation docker to see this change.

[Ruthrash]

updates in this PR:

• updated instructions to run the control scripts
• since this PR makes changes to the Dockerfile it is important to run the commands below to properly rebuild the containers.
  • sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml build
  • sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml create
  • sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml start
• Instructions to run the test can be found here
• scripts to test:
  1. test_joint_torque_control.py
  2. test_ee_pose_control.py
  3. test_ee_pose_impedance_control.py
  4. /test_joint_position_control.py
  5. test_joint_position_cartesian_impedance_control.py

[Ruthrash]

https://github.com/pairlab/franka_arm_infra/assets/19574538/a49ddcb7-11cc-48c1-aad1-57329cc2d39a

video showing test_joint_torque_control.py working

[Ruthrash]

plot from running test_ee_pose_control.py

[Ruthrash]

plot from running test_ee_pose_impedance_control.py

[Ruthrash]

plot from running /test_joint_position_control.py

[Ruthrash]

• sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml build

updates in this PR:

• updated instructions to run the control scripts

• since this PR makes changes to the Dockerfile it is important to run the commands below to properly rebuild the containers.

  • sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml build
  • sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml create
  • sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml start
• Instructions to run the test can be found here

• scripts to test:

  1. test_joint_torque_control.py
  2. test_ee_pose_control.py
  3. test_ee_pose_impedance_control.py
  4. /test_joint_position_control.py
  5. test_joint_position_cartesian_impedance_control.py

@kouroshD @n-yoshikawa

[kouroshD]

One note is that, in the documentation of the mian README, after we build the images, it is not written how to create a container. Please fix that by adding: sudo docker-compose -f docker/workstation_computer/docker-compose-gui.yml create As you mentioned in your previous comment.

[Ruthrash]

https://github.com/uoft-cs-robotics/robot_system_tools/assets/19574538/2a7f267b-edf2-44b9-a508-b676e6a91283

video of test_ee_pose_control.py, test_ee_impedance_control.py, test_joint_position_control.py