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Gym Franka Server

The is the server-side code intended to run on a realtime kernel with ros-noetic and franka-ros installed.

Getting started

  1. Setup franka-ros for ros-noetic as guided in https://frankaemika.github.io/docs/installation_linux.html.
  2. Clone this repository.
  3. Run bash ./setup.sh from the project's directory.
  4. Start a new terminal so the workspace is properly sourced.

Additional setups

  1. To provent the CPU from entering Powersave mode and causing communication delays, install indicator-cpufreq by running sudo apt-get install indicator-cpufreq and change to Performance mode.
  2. Adjust the IPs of this PC and the robot according to your networking setup.