search

rail-berkeley / serl_franka_controllers

Cartesian impedance controller with reference limiting for Franka Emika Robot
MIT License
88 stars 13 forks source link

how to control the gripper when load_gripper set to true? #7

Closed xuzhiiii closed 4 months ago

xuzhiiii commented 4 months ago

thanks for your great project, very helpful for me and I can control real franka with little ROS knowledge.

but I don't know how to add gripper control to it...which "geometry_msgs.msg" could used to control the gripper and how?

charlesxu0124 commented 4 months ago

If you are using a Franka gripper, take a look at franka_gripper_server.py. It contains all the topics and messages you need to send gripper commands and view gripper state.

xuzhiiii commented 4 months ago

Thank you again for your detailed response. REALLY appreciate your time and this significant project.