Panda Primitives

This work aims to define Primitives (i.e. skills) for the Franka Emika Panda 7-DOF Robot that can be chained together to complete more complex tasks.

Prerequisites

You will need:

For Simulation:
- Ubuntu machine
- Docker Engine.
For Running on the Panda:
- Above requirements.
- Franka Emika Panda Robotic arm with a Force Torque Sensor. Reference panda-primitives-control for the specifics
- The control layer of the robot: panda-primitives-control.

Bring in the submodules:
```
git submodule update --init --recursive
```
[SKIP FOR SIMULATION] Setup up panda-primitives-control by following the instructions in that repo's README.md.
Setup this repo.

First set up display forwarding:
```
xhost +local:
```
Now build the container image and start the container. Make sure you are in this root directory. These commands mount on the current directory as the containers file system so any changes you make to the files on your host machine will be mirrored in the container. These commands also allow the containers display to be forwarded to your host machine so that you can see it.
```
sudo docker build -t panda-prim .

sudo docker run --rm -it --privileged --cap-add=SYS_NICE --env DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $(pwd):/workspace --net=host panda-prim
```
You should now be in the docker container repo. Now build the repo.
```
catkin build authoring
source devel/setup.bash
```

[SKIP FOR SIMULATION] In the panda-primitives-control container, run: roslaunch controller mover_test.launch
Run one of the following:
- [SIMULATION] roslaunch authoring all.launch only_virtual:=true
- [ON ROBOT] roslaunch authoring all.launch
In a seperate terminal (still in your docker container), run:
```
source devel/setup.bash
rosrun authoring test_twist.py
```
You can also run any other scripts in the authoring/test folder in this same manner.

To view transforms: rosrun rqt_tf_tree rqt_tf_tree