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@@ -109,6 +109,8 @@ In this section, we will demonstrate our real-world deployment/evaluation system
         * Set center of gravity to (2, -6, 37)mm, CX/CY/CZ.
     * TCP will be set automatically by the eval script.
     * On UR5e, switch control mode to remote.
+
+    If you are using Franka, follow this [instruction](franka_instruction.md).
 3. Setup WSG50 gripper with web interface:
     * Obtain IP address and update [eval_robots_config.yaml](example/eval_robots_config.yaml)/grippers/gripper_ip.
     * In Settings > Command Interface
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+# Deploy UMI Policy on Franka Robot
+
+## System Overview
+<img width="90%" src="assets/umi_franka.png">
+
+* FrankaInterface (Server): [scripts_real/launch_franka_interface_server.py](scripts_real/launch_franka_interface_server.py) (L7)
+
+* FrankaInterface (Client): [umi/real_world/franka_interpolation_controller.py](umi/real_world/franka_interpolation_controller.py) (L36)
+
+* FrankaInterpolationController: [umi/real_world/franka_interpolation_controller.py](umi/real_world/franka_interpolation_controller.py) (L71)
+
+
+## Instructions
+* Follow the [documentation](https://facebookresearch.github.io/fairo/polymetis/prereq.html#franka-panda-hardware-setup) to install *Polymetis* on a computer with realtime kernel (i.e., NUC in our example).
+* Launch FrankaInterface Server on NUC.
+    
+    `python scripts_real/launch_franka_interface_server.py`
+* (optional) Now you should be able to control the Franka arm using a space mouse on another desktop, the one you are going to run the robot policy on.
+
+    `python scripts_real/control_franka.py`
+* Change [eval_robots_config.yaml](example/eval_robots_config.yaml)/robots/robot_type to `'franka'`. This will change the robot controller in [umi_env](umi/real_world/bimanual_umi_env.py) (L233).
+
+* Obtain IP address and update [eval_robots_config.yaml](example/eval_robots_config.yaml)/robots/robot_ip.
+* On the Franka interface website
+    * Set mass to 1.8 kg
+    * Set Flange to Center of Mass of Load Vector to (0.064, -0.06, 0.03)m.
+
+* Then you should be able to launch the evaluation on the franka arm.
+
+    `python eval_real.py --robot_config=example/eval_robots_config.yaml -i cup_wild_vit_l.ckpt -o data/eval_cup_wild_example`
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