NIST_Benchmark

This repo is for passing the NIST Benchmark tests with the Franka Emika Panda Robot.

Running

1. Follow the instruction in doc/setup.md to setup everything.

2. To run this repo...

   • In simulation, follow the instructions in doc/run_simulation.md.
   • On the bot, follow the instructions in doc/run_robot.md.

Making Changes

Our code is in the src/panda_benchmark package. Please only put any additional scripts there.

Troubleshooting + Tips

• Note: If you get an error about libGL error: MESA-LOADER: failed to retrieve device information, please run export LIBGL_ALWAYS_SOFTWARE=1 and your issue should be fixed.

• Panda limits for motion are located here. If you go beyond them, you will get the error libfranka: Move command aborted: motion aborted by reflex! ["cartesian_reflex"]. After that any other command will throw the error libfranka: Set Joint Impedance command rejected: command not possible in the current mode ("Reflex")! UNTIL the joints are locked and unlocked.

• If you ever see the error libfranka: Set Joint Impedance command rejected: command not possible in the current mode ("Reflex")! along with the error on Franka Desktop of Configured Force Thresholds Reached. and they keep on popping up even when moving very little/slowly and pop up when moving to the "pack" position in Settings > System > Move Robot to Transport Pose (even after you reboot), you will need to factory reset the bot by using the button under Settings > System > Factory Reset.

Resources

Source of RelaxedIK (Panda URDF has been midly modified): https://github.com/uwgraphics/relaxed_ik_ros1

More detailed instructions that help with installing RelaxedIK ROS1: https://github.com/uwgraphics/relaxed_ik_ros2

Source of franka_description: https://github.com/frankaemika/franka_ros/tree/develop/franka_description