"we use ZMQ to send joint comman

We do not use any serialisation library. At max we only sent 23 (7+16) doubles w

Thank you very much <a class="user-mention notranslate" data-hovercard-type="user" dat

[Question] details about ZMQ + FCI for real Franka about orbit HOT 2 CLOSED

chauvinSimon commented on August 16, 2024

[Question] details about ZMQ + FCI for real Franka

from orbit.

ritviksingh9 commented on August 16, 2024

We do not use any serialisation library. At max we only sent 23 (7+16) doubles which is already a fairly compressed representation to send over machines connected on the same local network. As such there was no need serialise values.
Yes, we use libfranka. We do not pass the joint position targets to one of the joint position motion generators provided by libfranka. Instead, we created our own TorqueGenerator which contains our own PD controller. This outputs joint torques that are sent to the Franka. So to answer your question, we use the purple path to create an external controller, and the PD controller is not the built-in one in the FCI, it's our own PD controller for which we spent some time tuning the gains. The PD controller is not identical to what is used in training in sim.

The real-robot code is currently not available publicly, but it is something that we are currently working on.

from orbit.

chauvinSimon commented on August 16, 2024

Thank you very much @ritviksingh9 for your detailed answer

from orbit.