.. TODO describe docker compose up for individual component

==================
Franka Lock Unlock
==================

This cli is used to interact with the robot.

Setup
=====

.. note::
   
   This package is forked from: https://github.com/jk-ethz/franka_lock_unlock

You will need to change the password, username and IP.

.. code-block:: bash

   export FRANKA_PASSWORD="your_password_here"
   export FRANKA_IP="your_IP_here"
   export FRANKA_USERNAME="your_username_here"

Automated Behavior
==================

The container will start the entrypoint.sh on run. This will do the following:

1. Obtain robot control 
2. Unlock the robot
3. Home the robot based on the home example program from franka desk (this takes approx. 10 seconds)

.. note::
  You might need to create the homing program in franka desk and adapt the name in cli.py

4. Activate FCI and keep the connection persistent

A SIGTERM (e.g. by means of ``docker compose down`` or ``crtl + c``) will wait for some ROS things to stop gracefully before homing the robot.
Then the breaks will be locked and control will be released.

.. note::
   The graceful shutdown time has been extended to 60 seconds for this container.


Original Readme
===============

Locking and unlocking of Franka Emika Panda joint brakes programmatically. Open or close all joint locks either from the command-line, or from any Python program.

Also supports the activation of the Franka Control Interface (FCI) and other options.

Problem Description
-------------------

While the Franka Panda is a great robot for research and industrial use cases, it lacks the option of unlocking or locking its joints from a different source other than the Franka Desk Web UI. However, this is crucial if you want to automate the entire startup and shutdown phase of the robot. That is now possible with the introduction of this package.

Command-Line Usage
-------------------

.. code-block:: bash

   usage: FrankaLockUnlock [-h] [--hostname HOSTNAME] [--username USERNAME]
                           [--unlock] [--lock] [--wait] [--request]
                           [--persistent] [--fci] [--homeGripper] [--reboot]
                           [--shutdown] [--homeRobot]
                           password
 
   Lock or unlock the Franka Emika Panda joint brakes programmatically.
 
   positional arguments:
     password             The Franka Desk password.
 
   optional arguments:
     -h, --help           show this help message and exit
     --hostname HOSTNAME  The Franka Desk IP address or hostname, for example
                         "1.2.3.4".
     --username USERNAME  The Franka Desk username, usually "admin".
     --unlock             Unlock the brakes. Otherwise, lock them.
     --lock               Lock the brakes on exit.
     --wait               Wait in case the robot web UI is currently in use.
     --request            Request control by confirming physical access to the
                         robot in case the robot web UI is currently in use.
     --persistent         Keep the connection to the robot open persistently.
     --fci                Activate the FCI.
     --homeGripper        Home the gripper.
     --reboot             Reboot the robot.
     --shutdown           Shutdown the robot.
     --homeRobot          Home the robot.
 
   (c) jk-ethz, https://git-ce.rwth-
   aachen.de/llt_dpp/all/franka_wwl_demonstrator, forked from
   https://github.com/jk-ethz


Simple Usage
------------

.. code-block:: bash

   frankalockunlock -h