trinkgelage 1.0.1

A beer tapping demo.

trinkgelage

Robotic two-arm demonstrator serving beer from a keg as shown at Geriatronics Summit 2024. Watch a video of the demo here.

Install

To install run

pip install trinkgelage

or if you're working with the code in a local clone of the repository

pip install -v -e .[dev]

Run

This Python package installs an executable for convenience. You can start the demo by running trinkgelage-demo from the environment where you installed the package. This program includes a terminal interface to control the demo manually. In order to run the program, you need to have two Franka robots connected with their respective hostnames/IPs available in the environment variables PANDA_LEFT and PANDA_RIGHT.

Requirements

The robots are controlled using panda-py, which is automatically installed from pypi as part of the requirements. However, if you use an older firmware or the FR3, you will need to manually install the correct version.