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- Franka launch scripts, robot.py, and parameters adapted to our hardware - NUC Dockerfile and setup script changes - Point fairo submodule at BasisResearch fork (basis-hardware branch) - Remove unused plotting/postprocessing modules - Extend .gitignore for caches, build artefacts, and .env files
…fig baked in Dockerfile.nuc rewritten around a minimal contract: - ubuntu:noble base with only ca-certificates and sudo from apt; compiler, make, cmake, and all libraries come from the conda env (see fairo) - micromamba replaces miniconda (solver: hours -> minutes) and installs from fairo's explicit lockfile with no solve at all - env layer keyed on the lockfile alone, so fairo source edits don't re-download the environment - tini as PID 1 (reaps the sudo'd controller process trees), entrypoint inlined - libfranka built from the (restored) submodule pin instead of build_libfranka.sh's git machinery; parallel builds capped at nproc - container-specific launch scripts replace the bare-metal pixi ones; polymetis conf in the fairo submodule is the single config source - fr3 variant Dockerfiles and the ghcr workflows (which pushed to an org this fork cannot write to) are removed; docs and .docker/README.md now describe the build/runtime contract Code changes to run in a container (and saner everywhere): - restore pyproject.toml (deleted in 0af8eea, taking all python deps with it); trim dm-control/mujoco, swap opencv for the headless contrib wheel - drop the deleted-but-still-imported RobotIKSolver from robot.py: unused velocity-control paths now raise NotImplementedError with restoration instructions; blocking position control is untouched - run_server.py logs the effective parameters and polymetis conf (and masked sudo_password) at startup, so running on baked-in defaults with a missing bind mount is visible - point the fairo submodule at the containerize-friendly build commits Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Fixes hydra's MissingConfigException for launch_robot (pkg://polymetis.conf) and the URDF DATA_DIR lookup. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ata parse The Release build's -DNDEBUG compiled away franka_panda_client's assert-wrapped metadata parsing and init status check, crashing the server on a zero-dof state at the first control update. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Bring over the gripper changes running on the NUC (droid-nuc dirty worktree) so the container behaves identically: - grasp(): force-grasp until contact, exposed over zerorpc; grips solid objects where a plain goto stalls. BabyRobotPredicator's grasp skill depends on it, together with the stop_gripper unstick step. - update_gripper: goto force 5.0 -> 0.1 to match the live arm. - ServerInterface: add grasp and stop_gripper client wrappers. - _gstate(): log width/is_moving/is_grasped/prev_command_successful before and after every gripper command to expose the stuck-latch. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The robot and gripper controllers now run as systemd-supervised quadlet containers (see nuc-ansible), so a client connecting with launch=True must no longer kill and respawn them — under the three-container layout the respawn would also collide with the sibling container on port 50051. - launch_controller / kill_controller become no-ops kept for zerorpc API compatibility; restart wedged controllers with systemctl on the NUC. - FrankaRobot connects its polymetis interfaces lazily with a clean retry path, so run_server starts (and serves errors instead of dying) while the robot is powered off. GripperInterface is rebuilt when its command-executor thread has died, since a dead executor makes every later blocking command hang on the queue. - New is_ready() RPC probes both controllers so clients can poll while the robot is off. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
The deployed image mixed old-signature wrapper scripts (with a NUC-local robot_ip override appended) with the new 4-arg supervise_launch.sh; the launcher args got shifted away and `env`, left with only VAR=value assignments, printed the environment and exited 0 in a silent 5s loop. - The wrappers now export ROBOT_IP (default 172.16.0.4, overridable via the unit's Environment=) and feed it to both the supervisor's reachability probe and the polymetis conf override, so the two cannot disagree and no NUC-local script edits are needed. - supervise_launch.sh validates its argument signature and exits loudly with a usage message instead of degrading into the env-dump loop. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
polymetis has carried it all along -- the franka client fills it from libfranka's tau_ext_hat_filtered every control cycle -- but the droid state dict never passed it on. It is the link-side external-torque estimate a guarded press needs to feel the button: without it the press falls back to measured minus computed torques, which reads ~37 N at rest on the Basis bench, and no contact threshold can sit above that. BabyRobotPredicator's press_calibration.py refuses to run until this key is present, by design. Claude-Session: https://claude.ai/code/session_01R6GJkrzoJJvtjR1mdsPNwh
franka: expose motor_torques_external in get_robot_state
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