# Running Real Robots
In this tutorial, we are going to go through the steps that are needed
for real robot experiments.

## Internet configuration
First of all, make sure that all you machines and the robot are
connected to a LAN. And change the wired connection configuration so
that each machine shows its local IP address. In the codebase, the
default is that desktop `172.16.0.1`, NUC `172.16.0.3`, and the robot
is `172.16.0.2`.

## Turn on the robot


<div class="admonition note">
<p class="admonition-title">Assitive Note - Turn on the robot</p>
We've provided a list of checkboxes for you to keep track of all the necessary steps.

<div>
<input type="checkbox" id="turn-on-power" name="turn-on-power" value="turn-on">
<label for="turn-on-power">Step 1: Turn on the power</label><br>
<input type="checkbox" id="switch-internetr" name="switch-internet" value="switch-internet">
<label for="switch-internet"> Step 2: Switch the internet connection</label><br>
<input type="checkbox" id="unlock-robot" name="unlock-robot" value="unlock-robot">
<label for="unlock-robot">  Step 3: Unlock the robot</label><br>
<input type="checkbox" id="release-stop" name="release-stop" value="release-stop">
<label for="release-stop"> Step 4: Release the user-stop</label><br>
<input type="checkbox" id="activate-fci" name="activate-fci" value="activate-fci">
<label for="activate-fci"> Step 5: (For newer version FCI) Activate FCI </label><br>
</div>
</div>

<details>
<summary><b id="turn-on-power">Step 1</b>: Turn on the power</summary>
First, turn on the switch.

<a href="../_images/turn_on_robot.png"><img src="../_images/turn_on_robot.png" alt="drawing" width="300" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>
</details>

<details>
<summary><b>Step 2</b>: Switch the internet connection</summary>

Second, change the wired connection to `172.16.0.2` (the local IP
address for robot). You would need to switch the ethernet connection
physically as well.
</details>


<details>
<summary><b>Step 3</b>: Unlock the robot</summary>

Third, open Franka desk `http://172.16.0.2/desk` and unlock
joints. And this will change the signal light of Franka Panda from
yellow to white.
<a href="../_images/franka_desk_unlock.png"><img src="../_images/franka_desk_unlock.png" alt="drawing" width="300" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>
</details>

<details>
<summary><b>Step 4</b>: Release the user-stop</summary>
Next, turn on the user-stop if the robot is showing bright lights. 

<a href="../_images/turn_on_user_stopx.gif"><img src="../_images/turn_on_user_stop.gif" alt="drawing" width="300" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>

Then the signal light of Franka Panda
will become blue.

<a href="../_images/robot_operating.jpg"><img src="../_images/robot_operating.jpg" alt="drawing" width="300" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>

</details>

<details>
<summary><b>Step 5 (depedending on the FCI version)</b>: Activate FCI</summary>
In the new version of FCI, you need to explicitly enable FCI through Franka Desk.

</details>

## Start control nodes on NUC
Open up a terminal and log in NUC through ssh (Replace `USERNAME` to the actual username you have on your NUC system ).
```shell
ssh USERNAME@172.16.0.3
```

All the commands are run under the root folder of this codebase, unless specified otherwise.

<div class="admonition note">
<p class="admonition-title">Assitive Note - Launch Deoxys control</p>
We've provided a list of checkboxes for you to keep track of all the necessary steps.

<div>
<input type="checkbox" id="launch-deoxys-arm" name="launch-deoxys-arm" value="launch-deoxys-arm">
<label for="launch-deoxys-arm">Launch deoxys arm control program on NUC.</label><br>
<input type="checkbox" id="launch-deoxys-gripper" name="launch-deoxys-gripper" value="launch-deoxys-gripper">
<label for="launch-deoxys-gripper">Launch deoxys gripper control program on NUC.</label><br>
<input type="checkbox" id="release-user-stop" name="release-user-stop" value="release-user-stop">
<label for="release-user-stop">Release user stop and make sure the robot's light showing blue.</label><br>
<input type="checkbox" id="check-lan-connection" name="check-lan-connection" value="check-lan-connection">
<label for="check-lan-connection">Check local network connection.</label><br>
<input type="checkbox" id="launch-desktop-program" name="launch-desktop-program" value="launch-desktop-program">
<label for="launch-desktop-program">Launch desktop programs.</label><br>
</div>
</div>

#### Arm control program
The real-time control node is the controller for robot arm.
To start the real-time control node, the most straightforward way is
to:

```shell
./bin/franka_interface configs/charmander.yaml
```
However, if for any reason, this program is crashed, the robot is
stopped. To increase the robustness and the duration of the code's
execution, run:

``` shell
./auto_scripts/auto_arm.sh config/charmander.yml
```

#### Gripper control program
The gripper node is the controller for gripper.
To start the grippe node, run the following script:

``` shell
./auto_scripts/auto_gripper.sh config/charmander.yml
```

And I recommend using `tmux` for running programs side by side. Just
like this:

<a href="../_images/nuc_control.png"><img src="../_images/nuc_control.png" alt="drawing" width="500" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>


## Start the desktop control node

Most of your operations need to be done on your desktop. The desktop's
IP is set to `172.16.0.1` by default.

### Run a simple motion trajectory

In this example, we are going to reset the robot arm into a predefined
joint positions. Run:
``` shell
python examples/reset_robot_joints.py
```


<div class="admonition warning">
<p class="admonition-title">Warning!</p>
This demo does not have the motion planning in place. Make sure that
the robot arm is close enough to reach the target joint
positions. Otherwise it will end up in a self-collision and lead to
catastrohic failure!!!
</div>

## Turn off the robot
<div class="admonition warning">
<p class="admonition-title">Warning!</p>

Make sure you turn off the robot if you are not working on it for the
rest of the day.

</div>

<div class="admonition note">
<p class="admonition-title">Assitive Note - Turn off the robot</p>
We've provided a list of checkboxes for you to keep track of all the necessary steps.

<div>
<input type="checkbox" id="turn-off-user-stop" name="turn-off-user-stop" value="turn-off-user-stop">
<label for="turn-off-user-stop"> Step 1: Turn off the user-stop</label><br>
<input type="checkbox" id="lock-joints" name="lock-joints" value="lock-joints">
<label for="lock-joints"> Step 2: Lock joints on Franka Desktop</label><br>
<input type="checkbox" id="shutdown" name="shutdown" value="shutdown">
<label for="shutdown">  Step 3: Click the shut down button on Franka Desktop</label><br>
<input type="checkbox" id="turn-off-power" name="turn-off-power" value="turn-off-power">
<label for="turn-off-power"> Step 4: Turn off the control box power</label><br>
</div>
</div>


Basically it would be the reverse steps of turning on the robot,
except for the step of <b>shutting down robot</b> operation:

<b>Step 1</b>: Turn off the user-stop by pushing it down.

<b>Step 2</b>: Lock joints on Franka Desktop.

<a href="../_images/franka_desk_lock.png"><img src="../_images/franka_desk_lock.png" alt="drawing" width="300" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>

<b>Step 3</b>: Then, click the shut down button on Franka Desktop.(dropdown menu in
the right upper corner of franka desk.)

<b>Step 4</b>: Turn off the power of the control box when Franka Destop shows "Finished".

<a href="../_images/turn_off_robot.png"><img src="../_images/turn_off_robot.png" alt="drawing" width="300" style="margin-left:auto; margin-right:auto; display:block; text-align:center;"/></a>


## Running a simple teleoperation demo

<div id="p1">
For more information about using teleoperation devices, please refer
to <a href="./using_teleoperation_devices.html"> Using Teleoperation Devices</a>
</div>

<!-- # Running real robots -->

<!-- In this tutorial, we are going to go through the steps that are needed -->
<!-- for real robot experiments. -->

<!-- ### Internet configuration -->

<!-- First of all, make sure that all you machines and the robot are -->
<!-- connected to a LAN. And change the wired connection configuration so -->
<!-- that each machine shows its local IP address. In the codebase, the -->
<!-- default is that desktop `172.16.0.1`, NUC `172.16.0.3`, and the robot -->
<!-- is `172.16.0.2`. -->


<!-- ### Start the real-time control code -->
<!-- To start the real-time control node, the most straightforward way is -->
<!-- to: -->
<!-- ```shell -->
<!-- ./bin/franka_interface configs/charmander.yaml -->
<!-- ``` -->

<!-- However, if for any reason, this program is crashed, the robot is -->
<!-- stopped. To increase the robustness and the duration of the code's -->
<!-- execution, run: -->

<!-- ``` shell -->
<!-- ./data_collection/auto_run.sh configs/charmander.yaml -->
<!-- ``` -->



<!-- ### Start the desktop control code -->


<!-- ### Running a simple demo -->
<!-- In this demo, we are going to reset the robot arm into a predefined -->
<!-- joint positions. -->

<!-- <div class="admonition warning"> -->
<!-- <p class="admonition-title">Warning!</p> -->

<!-- This demo does not have the motion planning in place. Make sure that -->
<!-- the robot arm is close enough to reach the target joint -->
<!-- positions. Otherwise it will end up in a self-collision and lead to -->
<!-- catastrohic failure!!! -->
<!-- </div> -->



<!-- ## Running a simple teleoperation demo -->




<!-- For more information about using teleoperation devices, please refer -->
<!-- to [Using Teleoperation Devices](./using_teleoperation_devices.html) -->