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Tutorial 1: Controlling Panda Bimanual Setup

1. Requirements

(a) If you are only running the simulation, you will need Docker Desktop or Docker Engine+Compose. Below are the instructions for each operating system:

  • Mac Instructions
    • If you are running into a Illegal Instruction error when running the scripts below (common on M3 chip), you will need to disable Use Rosetta for x86_64/amd64 emulation on Apple Silicon in Docker Desktop Settings > Virtual Machine Options. Note: this will greatly slow down the simulation.
  • Windows Instructions
    • When pulling submodules below, if you run into a filename too long error, run git config --global core.longpaths true.
  • Ubuntu Instructions: First, install Docker Engine (recommend using apt). Then configure docker as a non-root user. Finally, install Docker Compose.

(b) If you are running on the actual hardware, you will need additionally to setup your computer (COMPUTER 1) and the robots according to instructions in instructions/bimanual_system_setup.md. Note: this requires your computer be Ubuntu with a realtime kernel patch.

2. Setup

Make sure your terminal is in root of this repo (robot_tutorials).

First, pull in the submodules:

git submodule init
git submodule update

Next, build docker container. This will take ~6 minutes and ~6.3GB of space.

docker compose -f docker/compose.bimanual.yaml build

After that, start the docker container using one of the following:

# Mac/Windows/Ubuntu
docker compose -f docker/compose.bimanual.yaml run --rm --service-ports bimanual-base

# Ubuntu computer with real-time kernel patch to run code on robot
docker compose -f docker/compose.bimanual.real.yaml run --rm --service-ports bimanual-base

3. Test your setup in sim

Run the following to test your system in Mujoco. Then go to http://localhost:8765.

python3 -m  robot_motion_interface.examples.oscillating_ex --interface mujoco_browser

If you see the robot "dancing" in your browser, as shown below, your system is setup correctly. You are ready to move on to the next step. If you're curious what the script that runs this looks like, you can check it out at libs/robot-stack/robot_motion_interface/src/robot_motion_interface/examples/oscillating_ex.py.

4. Write your own code

Your task to to make the robot move the block. Fill in tutorial_1.py to complete the task. In the file are examples of functions you can use. To run the program, you can run:

python3 tutorial_1/tutorial_1.py --interface sim

An example solution is at tutorial_1_solution.py.

5. Run your code on the robot

You can run the script you executed in sim (note: this has to be on the computer with the kernel patch... see Requirements section a).

python3 tutorial_1/tutorial_1.py --interface real