documentation:robots:panda [robotwiki]

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====== Franka Emika Panda ======

===== Todo =====
  - **Startup**
  - add pictures as insturction on how to start up the robot, see heron example
  - note IP addresses
  - **Installation**
  - libfranka
  - franka_ros
  - **Code snippets and samples**
  - start of control with real robot
  - start of control with gazebo sim
  - code snipets on controlling the robot with moveit
  - **Docker**
  - starting docker files with graphics and real-time
  - existing docker files
  - how to build them yourself


===== Reset Controller to Factory Settings =====

Based on https://www.franka-community.de/t/reset-admin-password-or-reset-to-factory-settings/184, there are two ways recommended by Franka Emika:

**First way**
  * 1. Navigate to the login page of Desk.
  * 2. Open the debug window.
  * 3. Switch to the console tab.
  * 4. Enter <fetch("/admin/api/factory-reset",{method: ‘POST’})>, without the <>.
  * 5. Pressing enter does a factory reset. Just wait for the reboot (robot will start blinking in yellow).

**Second way**

Manually boot the controller into the Rescue System, by performing the following steps:

  * Shut down the controller and switch off the main switch as soon as the fans are switched off.
  * Wait approx. 10 sec. Before restarting the control by switching on the main switch.
  * Wait at least 20 sec and less than 40 sec.
  * Switch off the control unit with the main switch.
  * Wait 10 sec.
  * Start the control again by switching on the main switch.