Franka EMIKA Panda - Setup Tips

Setup the robot for the first time.
libfranka — Franka Control Interface (FCI) documentation

1. turn on system

2. wired connected – wired setting -

   IPV4:   manual 172.16.0.1;    network mask: 40

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Step 1: Turn on Control Box. The light of the base of the robot will turn yellow.

Step 2: Open the browser: https://172.16.0.2/desk/

Step 3: Unlock the robot. The joints of the robot are enabled.

              The light will turn from yellow to blue

              working mode: blue color

Step 4: Activate FCI on the menu.

           Use FCI mode to control the robot through c++/python scripts.

Step 5: Try example codes.

           cd libfranka/build/

           ./examples/generate_cartesian_velocity_motion 172.16.0.2

           ./examples/generate_cartesian_pose_motion 172.16.0.2

           ./examples/grasp_object 172.16.0.2 1 0.4