Frequently asked questions

Does it run on macOS?

Partial support is available on macOS. The issue here is that MuJoCo simulation and other components require the visualization to be executed in the main thread. For full functionality, Linux is recommended. To run RoBits on macOS you can start it with mjpython. To edit the entry point you can use the following command:

sed -i -e 's/\/python[0-9.]*$/\/mjpython/' "$(whereis rb | awk '{print $2}')"

Unfortunately, doing so will break the Open3D visualization viewer.

Does it work with an older Franka?

You need to downgrade libfranka. For the correction version see compatibility with libfranka. Additionally, you need to compile franky. Contact us for prebuild Python packages. The following scripts scripts/60_install_libfranka_0.8.0.sh and scripts/65_install_franky.sh will help you to install a different libfranka version.

How can I change the speed of the robot?

Change dynamics_factor parameter in your robot configuration.

 {
     "robot_name": "panda",
     "dynamics_factor": 0.2,
     "class_path": "robits.real.franka.robot.Franka",
 }

Can it be used in simulation only?

Yes. The stack can operate entirely in simulation using MuJoCo, which provides high-performance physics simulation for robotic manipulation tasks.

How can I change the user for the Franka robot?

For rb franka unlock/lock you need to add main.json in your ROBITS_CONFIG_DIR with the following values:

 {
     "franka_web": {
         "ip_addr": "172.16.0.2",
         "user": "your-user-name",
         "password": "your-secret-password"
     }
 }