Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Charlesxu0124 patch 1 #58

Merged
merged 2 commits into from
Jun 14, 2024
Merged

Charlesxu0124 patch 1 #58

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
fbd5b1e
Update README.md
charlesxu0124 Jun 11, 2024
33c73cf
Add instruction to activate gripper
charlesxu0124 Jun 11, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 5 additions & 2 deletions serl_robot_infra/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,12 +31,15 @@ From there you should be able to navigate to `serl_robot_infra` and then simply
```bash
conda activate serl

# script to start http server and ros controller
# Script to start http server and ros controller
python serl_robot_infra/robot_servers/franka_server.py \
--gripper_type=<Robotiq|Franka|None> \
--robot_ip=<robot_IP> \
--gripper_ip=<[Optional] Robotiq_gripper_IP> \
--reset_joint_target=<[Optional] robot_joints_when_robot_resets>

# Activate the gripper after running the franka_server if you are using a Robotiq gripper
curl -X POST http://127.0.0.1:5000/activate_gripper
```

This should start ROS node impedence controller and the HTTP server. You can test that things are running by trying to move the end effector around, if the impedence controller is running it should be compliant.
Expand All @@ -58,7 +61,7 @@ The HTTP server is used to communicate between the ROS controller and gym enviro
| getjacobian | Return current zero-jacobian |
| getstate | Return all robot states |
| jointreset | Perform joint reset |
| activate_gripper | Activate the gripper (Robotiq only) |
| activate_gripper | Activate the gripper (Robotiq only). This needs to be run after starting franka_server to control the Robotiq gripper. |
| reset_gripper | Reset the gripper (Robotiq only) |
| get_gripper | Return current gripper position |
| close_gripper | Close the gripper completely |
Expand Down
Loading