leonmkim / FISH_contact

Code for Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations

FISH contact

Dependencies

Needs franka_ros (under my fork) branch noetic-leon-0.9.0 and contact_estimation_ros branch noetic-devel

Running hardware

On RT-kernel machine:

roslaunch fish_franka franka_hw.launch

On this machine:

pyenv activate fish_contact
source ~/FISH_contact/scripts/ros_dair_machine.zshrc
rosrun rviz rviz -d ~/FISH_franka_ros_ws/src/contact_estimation_ros/fish_franka/config/franka_description_with_marker.rviz

Testing teleop

source ~/FISH_franka_ros_ws/devel/setup.zsh
pyenv activate fish_contact
python3 gym-envs/gym_envs/envs/teleop/xbox_joy.py

Running sim

source ~/FISH_franka_ros_ws/devel/setup.zsh
roslaunch fish_simulation franka_gazebo.launch