Robot setup

The NUC runs two programs: DROID's server, which drives the arm and gripper through polymetis (teleop uses it), and TiPToP's shim, which the planner uses to control the arm. Do steps 1–4 on the NUC.

1. Install DROID. Follow DROID's NUC guide (Docker or host), using the TANDEM branch of the fork:

   git clone -b TANDEM --recurse-submodules https://github.com/SamratSahoo/droid.git
   

   Its "Configure Parameters" step sets robot_ip (the arm's control box) and sudo_password in droid/misc/parameters.py. The server needs both.

2. Add TiPToP's shim. In the DROID checkout, with DROID's polymetis environment active:

   curl -LO https://raw.githubusercontent.com/SamratSahoo/tiptop/6cabf0f598515c5e149627456c0fdd889cc701d4/bamboo_polymetis_shim.py
   pip install pyzmq msgpack
   

3. Start DROID's server in one terminal:

   python scripts/server/run_server.py
   

   It starts polymetis's robot server (port 50051) and gripper server (port 50052), replacing any already running.

4. Start the shim in a second terminal:

   python bamboo_polymetis_shim.py
   

   Its log should show PolymetisGripper connected to localhost:50052. It listens on ports 5555 (control), 5557 (state) and 5559 (gripper).

5. Check from the workstation:

   tandem doctor
   

   The robot rows should pass. If the NUC's address is wrong, run tandem rig set robot.host NUC_ADDRESS, with your NUC's IP address or hostname.

Leave both terminals running while you collect. Steps 3 and 4 are needed again after the NUC restarts.