Main Developer: Dr. rer. nat Federico Ruiz Ugalde

Maintainer: Daniel García Vaglio

Contributors: Javier Peralta

This is a robot simulator for the ARCOS-Lab Robot. It was originally developed for TUM-Rosie robot. It simulates its two arms and fingers, force and torque sensing. It also simulates friction between an object, a table and a robot finger.

• You can install this directly on your system if you have Debian Jessie stable.

• Configure xstow for local installations Using xstow for local installations

• Install software needed
• * For Debian Jessie:

 sudo apt-get install python-numpy python-scipy python-opengl python-pygame python-matplotlib python-sip python-sip-dev python-qt4-dev python-qt4 python-gtk2 python-gtk2-dev python-vtk python-pyvtk python-gtkglext1 libeigen3-dev python-yaml python-setuptools python-future python-colorlog

• * For Debian Stretch and newer:

 sudo apt install python-numpy python-scipy python-opengl python-pygame python-matplotlib python-sip python-sip-dev python-qt4-dev python-qt4 python-gtk2 python-gtk2-dev python-vtk6 python-pyvtk python-gtkglext1 libeigen3-dev python-yaml python-setuptools python-future python-colorlog

• Install Yarp Installing YARP in debian
• Install orocos-kdl Installing orocos kdl in debian
• Download the following script and execute it. It will install the simulator for you.

simulator_installer.sh

#install avispy
echo "install avispy"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/avispy.git
cd avispy
make xstow_install
 
#install roboview
echo "install roboview"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/roboview.git
cd roboview
make xstow_install
 
#install cmoc
echo "install cmoc"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/cmoc.git
cd cmoc
make xstow_install
 
#install pyrovito
echo "install pyrovito"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/pyrovito.git
cd pyrovito
make xstow_install
 
#install vfl
echo "vfl"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/vfl.git
cd vfl
make xstow_install
 
#install vfclick
echo "install vfclick"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/vfclik.git
cd vfclik
make xstow_install
 
#install kdb cart cmd
echo "install kdb cart cmd"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/kbd-cart-cmd.git
cd kbd-cart-cmd
make xstow_install
 
#install arcospyu
echo "install arcospyu"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/arcospyu.git
cd arcospyu
git checkout 0.1.2
make xstow_install
 
#robot_descriptions
echo "robot_descriptions"
cd $HOME/local/src
git clone https://gitlab.com/arcoslab/robot_descriptions.git

• Execute Yarp in one terminal:

yarpserver --write

• In another terminal execute vfclik for right arm:

cd ~/local/src
vfclik -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/ -s

• In another console execute vfclik for left arm:

cd ~/local/src
vfclik -i lwr -i left -d robot_descriptions/arcosbot/kinematics/lwr/ -s

• In another console execute hands simulator:

cd ~/local/src
sahand_yarp_sim -s -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

• In another console execute roboviewer visualizator:

cd ~/local/src
pyrovito -r lwr --arm_right --arm_left --hand_right --hand_left -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/

• In another console execute torque simulator (only working with left arm/hand):

cd ~/local/src
torque_sim -r -s -a robot_descriptions/arcosbot/kinematics/lwr/ -c robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

• To test the system, in another console send forces to finger tips:

rlwrap yarp write ... /0/torque_sim/force_in
(1 -2. 0. 0.)
(1 0. 0. 0.)

• With the first force you should see the arm and finger moving away from the set point.
• With the second force you should see the arm and finger return to the set point.

• You can also test the system with the program kbd-cart-cmd. You can run it for the right arm with:

run_right.sh /0

• Now you can use several keys to control the arm

Cancel all the programs run in the previous instructions.

• In one console execute:

cd ~/local/src
pyrovito -r lwr -a robot_descriptions/tum-rosie/kinematics/lwr/ -d robot_descriptions/tum-rosie/kinematics/sahand/

• In another console:

planar_sliding_simple

• In another console:

xfinger_feeder

• Now you can move a “virtual” finger tip against the box and try sliding it.
• Try to move the box to the origin (0,0,0) where the coordinate frame is and orient the box in a at 0 degrees. Is it difficult?
• Now try to move the box to the origin with 0 degrees of orientation in one single shot. Is it difficult?
• Restart planar_sliding_simple (ctrl-c and the run it again)
• Now cancel xfinger_feeder and execute:

slider_control_simple

• Now the computer should move the box by itself to the “goal”.

• Cancel all the programs run on the last instructions.
• Run the following commands in different consoles from the directory ~/local/src/

vfclik -i lwr -i right -d robot_descriptions/tum-rosie/kinematics/lwr/ -s
vfclik -i lwr -i left -d robot_descriptions/tum-rosie/kinematics/lwr/ -s
sahand_yarp_sim -s -d -n -f robot_descriptions/tum-rosie/kinematics/sahand/hands_kin.py

• Wait until they are fully running. Then execute this one:

pyrovito -r lwr --arm_right --arm_left --hand_right --hand_left -a robot_descriptions/tum-rosie/kinematics/lwr/ -d robot_descriptions/tum-rosie/kinematics/sahand/

• Wait until it is fully running and execute:

torque_sim -s -a robot_descriptions/tum-rosie/kinematics/lwr/ -c robot_descriptions/tum-rosie/kinematics/sahand/calibration_data/finger_calibration_data.py -f robot_descriptions/tum-rosie/kinematics/sahand/hands_kin.py

• Wait until it is fully running and execute:

planar_sliding -o cmoc/objects/sliding/objects/ice_tea_params.py

• Wait until it is fully running and execute:

slider_control  -s -f robot_descriptions/tum-rosie/kinematics/sahand/hands_kin.py -o cmoc/objects/sliding/objects/ice_tea_params.py

• This will move the box to the goal by the whole robot!

WARNING: planar_sliding and slider_control will fail because of some changes that were introduced for the dual-cmap project. And it will probably remain deprecated because OMS is replacing CMOC.

Now if you want to run the simulation using the new hand (DLR HIT II):

vfclik -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/ -s
vfclik -i lwr -i left -d robot_descriptions/arcosbot/kinematics/lwr/ -s
sahand_yarp_sim -s -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py
pyrovito -r lwr --arm_right --arm_left --hand_right --hand_left -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/
torque_sim -s -a robot_descriptions/arcosbot/kinematics/lwr/ -c robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py
planar_sliding -o cmoc/objects/sliding/objects/ice_tea_params.py
slider_control  -s -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py -o cmoc/objects/sliding/objects/ice_tea_params.py

Check that you have FRI properly installed. In case that there are network communication problems some times there is a problem with the network card installation. The KRC has two network cards, one for Windows and one for VXworks. To be sure that the one for VXWorks is properly installed, go to control-panel→System→Hardware→Device Manager, and check that the PCI network controller is listed under “Realtime OS Devices” and not under “Network Adapters”. If it is under “Network Adapters” it means windows has “claimed” it. To reassign it to VXWorks, insert the FRI installation CD and go to INTERNAT\KRCUPD directory and run “KsNetCfg.exe”. This will install again the VXWorks network adapter card. This is usually a problem with the Intel Pro1000 GT card. Reboot and reconfigure FRI ini files.

Download and compile fri stanford library. Remember to update yarp. This uses the latest API. You will have to recompile and reinstall yarp.

cd ~/local/src
git clone ssh://gitolite3@arcoslab.eie.ucr.ac.cr/fri_stanford
cd fri_stanford/Linux
mkdir -p x64/release/obj
mkdir -p x64/release/lib
mkdir -p x64/release/bin
make all_release_x64

If you want to build for debugging, first follow the normal steps and then

sudo apt-get install g++-multilib

Give suid permissions to LWR_yarp_arcos fri-yarp bridge to allow it to run using preemptive realtime scheduling:

cd ~/local/src/fri-stanford/Linux/x64/release/bin
sudo chown root: LWR_yarp_arcos
sudo chmod u+s LWR_yarp_arcos

Please check that the gravity vector is correctly configured. After you have selected the current payload (configure→set_tool/base→tool_no/base_no), go to monitor→variable→single and introduce in “name”: $torque_tcp_est. Press shift-enter to have realtime variable updates. They should show small values No more than 5 Newtons in x,y or z. If they are big, this usually means, that either the payload is not properly selected, or that the gravity vector is incorrect.

To check the current gravitation vector monitor→variable→single in “name”: $gravitation[]. To permanently change the gravitation values, edit file :

c:\krc\roboter\krc\steu\mada\$custom.dat

At the beginning of the file you will find the variable values.

• Configure your network:

The KRC has two network interfaces. One is connected to the windows operating system and the other one is connected to the QNX virtual machine for the LWR controller. In ARCOS-Lab the windows interface has the ip 192.168.3.10, the QNX interface has the ip 192.168.2.250.

If this configuration is wrong in the KRC you can fix it by:

• Edit file C:\windows\vxwin.ini

[Boot]
Bootline=elPci(0,1)pc:vxworks h=192.0.1.2 b=192.0.1.1 e=192.168.2.250 u=target pw=vxworks

• Edit file C:\krc\roboter\init\Dlrrc.ini

[DLRRC]
TIMEOUT=25
IMMEDIATE_STARTUP=1
FRIHOST=192.168.2.113
FRISOCK=49938,0
FRIKEY=(use provided key)

We had troubles using an Intel Giga network controller. The 3Com one works correctly. To check that windows is properly detecting and using the FRI network controller, go to the windows “Device Manager” and check that the 3Com network controller is assigned as part of a “Realtime OS Devices” section and not inside “Network adapters” section.

The host computer (your computer or the computer running the FRI-yarp bridge) must have the following ip address: 192.168.2.113. This is configured in some .ini file in the KRC.

• Connect the host computer (your computer) to the same physical network as the KRC.
• Run the host computer (your computer):

sudo ifconfig eth0 up
sudo ifconfig eth0:0 192.168.2.113 netmask 255.255.255.0

• Test the connection to the robot:

ping 192.168.2.250

• It must responde with packages with low latency

• You can use the following bash script for configuring and testing FRI connectivity:

#!/bin/bash

if [ $1 = up ]
then
  echo "Disabling previous wired network configuration"
  sudo ifdown eth0
  sleep 2
  sudo ifdown eth0
  sleep 2
  echo "Turning wired network on"
  sudo ifconfig eth0 0.0.0.0 up
  echo "Kuka FRI network"
  sudo ifconfig eth0:0 192.168.2.113 netmask 255.255.255.0
  echo "Kuka KRC windows network"
  sudo ifconfig eth0:1 192.168.3.113 netmask 255.255.255.0
  echo "Wessling robotics Hand network"
  sudo ifconfig eth0:2 192.168.200.10 netmask 255.255.255.0
  echo "Checking communication with robot parts"
  ping -i 0.3 -w 3 -c 5 192.168.2.250
  if [ $? != 0 ]
  then
      echo "Comunication error with Kuka FRI, check FRI network"
      exit 1
  fi
  ping -i 0.3 -w 3 -c 5 192.168.3.10
  if [ $? != 0 ]
  then
      echo "Comunication error with Kuka KRC windows, check Kuka KRC windows network"
      exit 1
  fi
  ping -i 0.3 -w 3 -c 5 192.168.200.1
  if [ $? != 0 ]
  then
      echo "Comunication error with Wessling robotics Hand, check Hand network"
      exit 1
  fi

fi
if [ $1 = down ]
then
  echo "Turning all robot networks down"
  echo "Wessling robotics Hand network"
  sudo ifconfig eth0:2 down
  echo "Kuka KRC windows network"
  sudo ifconfig eth0:1 down
  echo "Kuka FRI network"
  sudo ifconfig eth0:0 down
  echo "Turning wired network off"
  sudo ifconfig eth0 down
fi

You can also connect to the same network of the KRC windows OS. This may be useful for editing or copying files:

• Configure your network interface to be also in the same network of this windows computer:

sudo ifconfig eth0:1 192.168.3.113 netmask 255.255.255.0

• Test the connection to the windows OS:

ping 192.168.3.10

Access the KRC windows files in your computer

• Create a mount directory for the KRC windows files:

mkdir -p /mnt/krc

• mount the windows files in a local host directory (password: user):

sudo mount -t cifs //192.168.3.10/krc /mnt/krc/ -o user=user,vers=1.0

Now you can access the KRC windows files in your linux computer.

• If you configured LWR_yarp_arcos with suid:

cd ~/local/src/fri_stanford/Linux/x64/release/bin
./LWR_yarp_arcos

• If you didn't use suid:

cd ~/local/src/fri_stanford/Linux/x64/release/bin
sudo su
cd
export HOME=/home/my_user
. /home/my_user/.bashrc
export HOME=/root/
cd -
./LWR_yarp_arcos

• Turn on the KRC box (big black switch CW 90 degrees)
• In the Kuka Pendant:
  • Rotate the key on top of the Kuka Pendant to the spiral without dot position.
  • Select Position Control with LWR button
  • Press the Button next to the key (the one with a vertical bar)
  • Configure→Set tool/base→ Tool no: 1(empty) 2(hand) 3(L link), base no: 1
  • With the file manager, go to: R1/Program/FRIDemo/
  • Select file FRIControl (this file is in the KRL/ARCOS-Lab_KRC1/FRIDemo/ repository directory. You must internally check for the gravity vector and the tool number to be correct)
  • Select Position Control with LWR button
  • Monitor→Variable→Single→Name: $torque_tcp_est (check that torques and forces don't exceed a value of 2)
  • Close Monitor window
  • Press green + button several times until no more advancing happens in the code
  • Press enter in the LWR_yarp_arcos console
  • Press green + button more times until no more advancing happens in the pendant code

• Ackknowled all messages in Pendant
• Press black button with circle to denergize the drives
• Press the white button with vertical bar next to the key to reenergize the drives
• Press the green button with “+” several times until FRI switches to joint impedance control. During this the arm moves to the starting position and then to the last commanded position. Beware!!!!

• Remember to start the FRI yarp bridge first (look above)
• Remember to check to following repositories to the tag “robio_2019_right_arm_hand_forces”
• gitlab:

arcospyu avispy cmoc kbd-cart-cmd orocos-kdl pyrovito robot_descriptions vfclik vfl

• git.arcoslab.org:

fri-stanford hand-code

• For yarp use the following git commit:

ced5964df3e730fe5d578e044277f69665b95a1f

• VFCLIK:

cd ~/local/src
vfclik -n /arcosbot-real -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/

• Visualization (pyrovito):

cd ~/local/src
pyrovito -n /arcosbot-real -r lwr --arm_right --hand_right -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/

• Joint limits visualization:

cd ~/local/src
bar_vis
yarp connect /arcosbot-real/lwr/right/debug/qdist /bar_vis/bar/in

• Keyboard control:

run_right.sh "/arcosbot-real"

• To control nullspace movement:

yarp write ...  /arcosbot-real/lwr/right/nullspace/control

In this console you can write nullspace speed movements. Try small numbers like 0.1 first.

• Start the ardnet system, and the ardnet/yarp bridge (hand_yarp):

cd ~/local/src/hand-code/hand_yarp
./python/wessling_hand/start_ard.py 

• Disable and enable the hand fingers (using the hand emergency stop button)
• Start the real/sim hand bridge:

cd ~/local/src
sahand_yarp_sim -b /arcosbot-real -r -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

• Torque fingertip estimation:

cd ~/local/src
torque_sim -b /arcosbot-real -r -a robot_descriptions/arcosbot/kinematics/lwr/ -c robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

• Now you should see yellow arrows representing the forces on the fingertips.

• If you are running a previous sahand_yarp_sim and torque_sim please stop them.
• Check that your finger_calibration_data.py file is linking to finger_calibration_data_unit.py file
• Start sahand_yarp_sim and torque_sim again (but with no calibration data (unit file above):

cd ~/local/src
sahand_yarp_sim -b /arcosbot-real -r -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

cd ~/local/src
torque_sim -b /arcosbot-real -r -a robot_descriptions/arcosbot/kinematics/lwr/ -c robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

• Adjust the desired fingers to calibrate the the finger variable in hand_calibration.py file
• Prepare a small bottle with a previously measured weight.
• Run the hand_calibration.py script:

cd ~/local/src/hand-code/hand_yarp/python/wessling_hand
./hand_calibration.py -b /arcosbot-real -c ~/local/src/robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -f ~/local/src/robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py -a ~/local/src/robot_descriptions/arcosbot/kinematics/lwr/

• Follow the instructions of the script. Be sure to disconnect or “lift” the finger connected weight when the script is zeroing sensors torques. Be sure to connect, to the corresponding finger, the bottle when indicated.
• When the script is “looping”, ctrl-c it !!! (Stop it)
• Annotate the torque and angle calibration values.
• Create a new finger_calibration_data_something.py by copying the finger_calibration_data_unit.py file.
• Modify the new finger_calibration_data_something.py file with the new annotated torque and angle calibration values.
• Link finger_calibration_data.py to the new file.
• Run again sahand_yarp_sim and torque_sim. This will apply the new calibration values to the estimated forces.
• Remember to flex the finger joints to a prudent value to avoid a singularity and get better force estimations.
• Remember to offset the finger torques every time you reorient the hand. The finger impedance control doesn't have gravity weight compensation, therefore, the finger weight affects the measurement greatly.
• You can run hand_calibration.py again until the fingers are flexed and the torques are zeroed to test the new calibration values.

This part of the tutorial is useful when you want to run the simulator using the same hardware and configuration that is available right now in “real life”. Make sure to use the correct tag as stated in the Starting the vfclik system for the real robot (ROBIO 2019 experiments). Only runs on the right arm/hand section. Each line of the following code block should be run in a separate terminal at ~/local/src/.

vfclik -s -n /arcosbot-real -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/
pyrovito -n /arcosbot-real -r lwr --arm_right --hand_right -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/
sahand_yarp_sim -b /arcosbot-real -r -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py -s
torque_sim -b /arcosbot-real -r -a robot_descriptions/arcosbot/kinematics/lwr/ -c robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py -s
run_right.sh "/arcosbot-real"

If the arcosbot server is running the system for using the robot, then it is possible to just send commands to the server using YARP.

• Make sure that you are in the same physical network as the humanoid robot
• Detect arcosbot's yarp server

yarp detect --write

Now YARP will use the remote server. You can send basic commands to the robot using kbd commands.

run_right.sh "/arcosbot-real"

If you encounter an X server error while executing the simulator, check the following:

• If DISPLAY environment variable of the chroot is the same as the host machine
• If the graphics driver of the chroot and the host machine are the same
• If the host Xserver allows indirect rendering

If you encounter errors with multiprocessing. Add the following line to /etc/fstab

none /dev/shm tmpfs rw,nosuid,nodev,noexec 0 0

And then execute:

sudo mount /dev/shm

* Open a terminal and execute Yarp:

yarpserver start

* In another console execute vfclik for right arm:

cd ~/local/src/
vfclik -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/ -s

* In another console execute vfclik for left arm:

cd ~/local/src/
vfclik -i lwr -i left -d robot_descriptions/arcosbot/kinematics/lwr/ -s

* In another console execute hands simulator:

cd ~/local/src/
sahand_yarp_sim -s -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py

* In another console execute roboviewer visualizator:

cd ~/local/src/
pyrovito -r lwr --arm_right --arm_left --hand_right --hand_left -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/

• Name: /lwr/right/bridge/weights
• Description: This is used to select which controller controls the robot, one can select between vfclik, nullscace, jointcontroller, mechanism, xtra1, xtra2
• Usage example: 1.0 1.0 0.0 0.0 0.0 0.0 Selects vfclik and nullspace controllers
• Usage example: 0.0 0.0 1.0 0.0 0.0 0.0 Selects joint controller

• Name: /lwr/right/vectorField/weight
• Description: This is used to adjust the importance of a joint or task space dimension during the jacobian calculation for cartesian movement.
• Usage example: j 1 1 1 1 1 1 1 Uses all 7 joints as much as possible
• Usage example: t 1 1 1 1 1 1 Uses all 7 task space dimensions as equally important

• Name: /lwr/right/ofeeder/object
• Description: This port is used to feed objects to the vfclik system. It can accept obstacles and goals.
• Usage example: set goal (-0.995363 0.001243 0.096186 0.979951 0.062618 0.767426 0.638073 -0.348856 -0.073022 0.641137 -0.763945 0.861143 0 0 0 1)

• Name: /lwr/left/jpctrl/ref
• Description: This port accepts joint positions.
• Usage example: -0.4 0.3 0.1 0.5 0.5 0.5 0.5

• Name: /lwr/right/dmonitor/distOut
• Description: This port outputs the distance to current goals/obstacles
• example: (object/goal number, linear distance (meters), angular distance (degrees)

• Name: /lwr/right/debug/qdist
• Description: This port outputs distances in percentage to joint limits
• Usage example: 19.6106992983374 60.6037843402149 14.0171939079065 73.3064145340412 31.6837274879154 -53.8251156968477 59.6518223463255

• Name: /lwr/right/nullspace/control
• Description: This port accepts a list of nullspace speeds for each nullspace variable
• Usage example: 0.0 : No movement in nullspace, 0.5 : Positive movement in nullspace, 0.1 0.3: Two nullspaces used

• Physically relocate the robot in the new designated place.
• Annotate or find out the new orientation information. (Translation/Rotation in X, Y and Z) (remember to annotate the order of this rotations)
• Gravitation vector points away from the earth
• Check, with cartesian jogging, the direction of the robot base axis. This will help to correctly project the gravitation vector onto those axis.
• Update the gravitation vector in file

c:\krc\roboter\krc\steu\mada\$custom.dat

• Restart and check \$torque_tcp_est variable. No value should be bigger than 3 Newtons
• Consider changing the hand mounting orientation.
• If hand mounting orientation changed, update hand mass data:
• In the KRC, change to administrator privileges.
• Setup→Tool→Payload data→Tool no: 2 (hand tool), Continue
• Adjust corresponding values (mass, x, y, z)
• Restart and check \$torque_tcp_est variable. No value should be bigger than 3 Newtons
• Move the robot in joint space to an appropriate initial pose. (away from table, away from joint limits, easy for table reaching)
• Open \R1\Program\FRIDemo\FRIControl.src file.
• With the cursor move to line before “PTP P6” line
• Select: Commands→Motion→PTP
• Select the correct base and hand tool frames.
• This will add the new ARM starting position.
• Erase the previous “PTP P6” line: Put cursor on this line, then: Program→Delete
• Restart KRC
• Start the FRIControl file as you normally do. Check that the initial position is as desired

Review:

• Change fri interface last two joint limits (in case hand mounting position changed)
• Change VFClik initial joint and frame positions
• Change VFClik last two joint limits (in case hand mounting position changed)
• Update arm kinematic chain (arm base and hand base)