coding-practices-tutorial

This repo contains buggy code for controlling a Franka Panda arm with PD control. Can you spot the bugs?

Setup

This code works on Linux and MacOS. To get started, first install the pip requirements in a virtualenv.

python3 -m venv env
source env/bin/activate
pip install -r requirements.txt

Running the code

This tutorial is split into two parts. For part 1, run:

python3 robot_part_1.py --kp 49 --kd 14

For part 2, run:

python3 robot_part_2.py --kp 49 --kd 14

You can change the PD gains by changing the --kp and --kd arguments.

The scripts use your browser for visualization. They will pause until you load this page:

http://localhost:8000