fixes

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "/home/labelbox/projects/lbx-Franka-Teach/franka_description"
+}

debug_deoxys_messages.py

@@ -0,0 +1,122 @@
+#!/usr/bin/env python3
+"""
+Debug script to test what messages are being published by deoxys services
+"""
+import os
+os.environ["PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION"] = "python"
+
+import zmq
+import time
+from pathlib import Path
+from deoxys.utils import YamlConfig
+import deoxys.proto.franka_interface.franka_robot_state_pb2 as franka_robot_state_pb2
+
+CONFIG_ROOT = Path(__file__).parent / "frankateach" / "configs"
+
+def test_deoxys_messages():
+    # Load configuration
+    config = YamlConfig(CONFIG_ROOT / "deoxys_right.yml").as_easydict()
+
+    print(f"🔍 Testing deoxys message reception...")
+    print(f"Config: NUC IP = {config.NUC.IP}")
+    print(f"Arm port: {config.NUC.PUB_PORT}")
+    print(f"Gripper port: {config.NUC.GRIPPER_PUB_PORT}")
+
+    # Initialize ZMQ context
+    context = zmq.Context()
+
+    # Test arm state subscriber
+    print(f"\n📡 Testing arm state on tcp://localhost:{config.NUC.PUB_PORT}")
+    arm_subscriber = context.socket(zmq.SUB)
+    arm_subscriber.setsockopt(zmq.CONFLATE, 1)
+    arm_subscriber.setsockopt_string(zmq.SUBSCRIBE, "")
+    arm_subscriber.connect(f"tcp://localhost:{config.NUC.PUB_PORT}")
+
+    # Test gripper state subscriber
+    print(f"📡 Testing gripper state on tcp://localhost:{config.NUC.GRIPPER_PUB_PORT}")
+    gripper_subscriber = context.socket(zmq.SUB)
+    gripper_subscriber.setsockopt(zmq.CONFLATE, 1)
+    gripper_subscriber.setsockopt_string(zmq.SUBSCRIBE, "")
+    gripper_subscriber.connect(f"tcp://localhost:{config.NUC.GRIPPER_PUB_PORT}")
+
+    arm_received = False
+    gripper_received = False
+
+    print(f"\n⏱️ Waiting for messages (timeout: 10 seconds)...")
+    start_time = time.time()
+
+    while time.time() - start_time < 10:
+        # Test arm messages
+        if not arm_received:
+            try:
+                message = arm_subscriber.recv(flags=zmq.NOBLOCK)
+                print(f"✅ ARM: Received message ({len(message)} bytes)")
+
+                try:
+                    robot_state = franka_robot_state_pb2.FrankaRobotStateMessage()
+                    robot_state.ParseFromString(message)
+                    print(f"   ✅ ARM: Successfully parsed protobuf")
+                    print(f"   📊 ARM: Frame number: {robot_state.frame}")
+                    print(f"   🤖 ARM: Joint positions: {robot_state.q[:3]}...")
+
+                    # Debug: print available attributes
+                    attrs = [attr for attr in dir(robot_state) if not attr.startswith('_')]
+                    print(f"   🔍 ARM: Available attributes: {[a for a in attrs if 'o_t_ee' in a.lower() or 'ee' in a.lower()]}")
+
+                    # Try different possible attribute names
+                    if hasattr(robot_state, 'o_t_ee'):
+                        print(f"   📍 ARM: o_t_ee: {robot_state.o_t_ee[:4]}...")
+                    elif hasattr(robot_state, 'O_T_EE'):
+                        print(f"   📍 ARM: O_T_EE: {robot_state.O_T_EE[:4]}...")
+                    else:
+                        print(f"   ❌ ARM: No o_t_ee or O_T_EE attribute found")
+
+                    arm_received = True
+                except Exception as e:
+                    print(f"   ❌ ARM: Failed to parse protobuf: {e}")
+
+            except zmq.Again:
+                pass
+
+        # Test gripper messages  
+        if not gripper_received:
+            try:
+                message = gripper_subscriber.recv(flags=zmq.NOBLOCK)
+                print(f"✅ GRIPPER: Received message ({len(message)} bytes)")
+
+                try:
+                    gripper_state = franka_robot_state_pb2.FrankaGripperStateMessage()
+                    gripper_state.ParseFromString(message)
+                    print(f"   ✅ GRIPPER: Successfully parsed protobuf")
+                    print(f"   📏 GRIPPER: Width: {gripper_state.width}")
+                    print(f"   📏 GRIPPER: Max width: {gripper_state.max_width}")
+                    print(f"   🤏 GRIPPER: Is grasped: {gripper_state.is_grasped}")
+                    gripper_received = True
+                except Exception as e:
+                    print(f"   ❌ GRIPPER: Failed to parse protobuf: {e}")
+
+            except zmq.Again:
+                pass
+
+        if arm_received and gripper_received:
+            break
+
+        time.sleep(0.01)
+
+    # Results
+    print(f"\n📋 RESULTS:")
+    print(f"   ARM messages: {'✅ Received' if arm_received else '❌ Not received'}")
+    print(f"   GRIPPER messages: {'✅ Received' if gripper_received else '❌ Not received'}")
+
+    if arm_received and gripper_received:
+        print(f"   🎉 SUCCESS: Both message types are working!")
+    else:
+        print(f"   ⚠️  Some message types are not working")
+
+    # Cleanup
+    arm_subscriber.close()
+    gripper_subscriber.close()
+    context.term()
+
+if __name__ == "__main__":
+    test_deoxys_messages() 

franka_server.py

@@ -1,3 +1,6 @@
+import os
+os.environ["PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION"] = "python"
+
 from frankateach.franka_server import FrankaServer
 import hydra
 

franka_server_debug_20250529_221953.log

@@ -0,0 +1,4 @@
+22:19:53.445 [INFO] ============================================================
+22:19:53.446 [INFO] FRANKA SERVER DEBUG VERSION STARTING
+22:19:53.446 [INFO] Log file: franka_server_debug_20250529_221953.log
+22:19:53.446 [INFO] ============================================================