Robotic two-arm demonstrator serving beer from a keg as shown at Geriatronics Summit 2024. Watch a video of the demo here.
To install run
pip install trinkgelage
or if you're working with the code in a local clone of the repository
pip install -v -e .[dev]
This Python package installs an executable for convenience. You can start the
demo by running trinkgelage-demo from the environment where you installed the
package. This program includes a terminal interface to control the demo
manually. In order to run the program, you need to have two Franka robots
connected with their respective hostnames/IPs available in the environment
variables PANDA_LEFT and PANDA_RIGHT.
The robots are controlled using panda-py, which is automatically installed from pypi as part of the requirements. However, if you use an older firmware or the FR3, you will need to manually install the correct version.