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iiwa_setup

iiwa real-world setup

Installation

This repo uses Poetry for dependency management. To set up this project, first install Poetry and, make sure to have Python3.10 installed on your system.

Then, configure poetry to set up a virtual environment that uses Python 3.10:

poetry env use python3.10

Next, install all the required dependencies to the virtual environment with the following command:

poetry install -vvv

(the -vvv flag adds verbose output).

For local Drake and manipulation installations, insert the following at the end of the .venv/bin/activate and .venv/bin/activate.nu files, modifying the paths and python version as required:

export PYTHONPATH=""
export PYTHONPATH=~/drake-build/install/lib/python3.10/site-packages:${PYTHONPATH}
export PYTHONPATH=~/manipulation:${PYTHONPATH}

Activate the environment:

poetry shell

Install git lfs:

git lfs install
git lfs pull

iiwa Driver

Drake's iiwa driver must be installed manually to use the real iiwa robot. NOTE that Drake's pre-requisites must be installed before installing the driver.

The FRI source can be downloaded from here and installed using the following instructions:

cd kuka-fri
unzip /path/to/your/copy/of/FRI-Client-SDK_Cpp-1_7.zip
patch -p1 < ../fri_udp_connection_file_descriptor.diff

Once build, the driver can be run using ./bazel-bin/kuka-driver/kuka_driver or using bazel run //kuka-driver:kuka_driver.

Networking troubleshooting

If the driver doesn't connect to the kuka, check that the sunrise cabinet is reachable on the network using nmap -sP 192.170.10.2/24. Both the local computer and a second computer (the sunrise cabinet) should show up.

If it doesn't show up, check the following:

  1. There must be an ethernet network connecting the local computer and the sunrise sunrise cabinet KONI port (ideally through a switch). This network must have the static IP 192.170.10.200 with netmask 255.255.255.0.
  2. The sunrise cabinet KONI port must be owned by RTOS and not by Windows. Connect a monitor, mouse, and keyboard to the sunrise cabinet. Start the cabinet and login. Press WIN+R to open the command window. Type C:\KUKA\Hardware\Manager\KUKAHardwareManager.exe -query OptionNIC -os RTOS. Everything is in order if the popup says BusType OptionNIC found. If the popup says BusTypeOptionNIC not present, change the port ownership using C:\KUKA\Hardware\Manager\KUKAHardwareManager.exe -assign OptionNIC -os RTOS. Unplug the monitor and restart the sunrise cabinet before re-checking the network with nmap.

Schunk WSG 50 Gripper Driver (Optional)

Connect the WSG gripper to the same switch that is connecting the local computer with the sunrise cabinet. Add the IP 192.168.1.200 with netmask 255.255.255.0 as an additional static IP to the network (the first IP should still be 192.170.10.200). The WSG is connected properly if the WSG 50 Control Panel web interface can be accessed through http://192.168.1.20/.

Drake's Schunk driver must be installed manually to use the WSG programatically. Once build, the driver can be run using bazel run //src:schunk_driver.

Optitrack Driver (Optional)

Drake's Optitrack driver must be installed manually to use the Optitrack functionality.

Build and install the wheel as described here. Make sure to install the wheel from inside the poetry virtual environment.

Executing code on the real robot

  1. Start the torque or position driver on the teach pendant.
  2. Run the iiwa driver by running bazel run //kuka-driver:kuka_driver from drake-iiwa-driver.
  3. If using the WSG, run the schunk driver using bazel run //src:schunk_driver from drake-schunk-driver.
  4. Run the desired script with the --use_hardware flag.

Optitrack

To use the Optitrack system, run the Optitrack client from the driver directory:

bazel run //src:optitrack_client

Inspecting Optitrack LCM messages

Clone drake and run LCM Spy from inside the drake directory:

bazel run lcmtypes:drake-lcm-spy

Calibrating Optitrack bodies

In a usual setup, we want to use Optitrack to update our internal model of the world (multibody plant). However, the body poses returned by Optitrack assume different world and body frames than the ones from our plant. Hence, we need to find the transform between the Optitrack body pose and the plant body pose.

scripts/calibrate_optitrack_body.py can be used for computing this transform using the the following procedure:

1. Setup

Modify the scenario_str to contain the body of interest (currently sugar_box.dmd.yaml) and a second (reference) version of that body (currently sugar_box_reference.dmd.yaml). Both should be identical apart from the model name and contain the SDFormat file of the body/ object.

Modify object_name and ref_object_name to match the model names of the first and second version of the body.

Modify ref_object_initial_positions to position the body above the Optitrack workspace (the object should fall on the floor and not start on the floor).

Modify optitrack_iiwa_id and optitrack_body_id to match the body IDs of the Optitrack system. These can be identified as described here.

Set both R_OptitrackBody_SimBody_W and p_OptitrackBody_SimBody_W to [0, 0, 0].

2. Determine the reference body's positions

  1. Set is_init = True and run the script.
  2. Wait a few seconds until the printed pose stays approximately static. Then note down the printed z-position and terminate the script.
  3. Modify the reference body directive file to include a weld from the world frame to the body frame. The weld transform should include the printed z-position, no rotation, and planar positions that position the object close to the iiwa base inside the Optitrack workspace.

3. Determine the Optitrack body to plant-body transform

  1. Place the real object at the planar position that corresponds to the weld from step 2. Taking the iiwa center as the world origin and using a ruler to measure positions and ensuring axis-aligned rotations should be helpful strategies here.
  2. Remove the collision geometries from the body SDFormat file.
  3. Set is_init = False and run the script.
  4. Note down the printed transform and terminate the script.
  5. Subtract the printed transform from the reference object weld transform (element-wise subtraction of the positions and Euler angles) and use the result as R_OptitrackBody_SimBody_W and p_OptitrackBody_SimBody_W.
  6. Run the script and check if both bodies align. If they do, then R_OptitrackBody_SimBody_W and p_OptitrackBody_SimBody_W represent the desired transform.

Recording Optitrack object pose data

The script scripts/record_optitrack_body_pose_data.py can be used for recording the pose of an object using optitrack.

Example usage:

python scripts/record_optitrack_body_pose_data.py --out_path sugar_box_logs \
--object_directive "package://iiwa_setup/sugar_box.dmd.yaml" --object_name sugar_box \
--optitrack_object_id 3 --object_initial_positions '[1, 0, 0, 0, 0.5, 0.5, 0.025]' \
--p_optitrackBody_plantBody_world '[-0.03427348, 0.01983565, -0.01967432]' \
--R_optitrackBody_plantBody_world '[0.013, -0.035, 1.372]' --save_html

Note that data is only saved if the script is excited gracefully using the Stop Simulation button in Meshcat.