Merge pull request #24 from gautams3/franka_gripper

Add ability to control franka gripper

serl_robot_infra/README.md

@@ -55,7 +55,7 @@ The HTTP server is used to communicate between the ROS controller and gym enviro
 | get_gripper | Return current gripper position |
 | close_gripper | Close the gripper completely |
 | open_gripper | Open the gripper completely |
-| move_gripper | Move the gripper to a given position (Robotiq only) |
+| move_gripper | Move the gripper to a given position |
 | clearerr | Clear errors |
 | update_param | Update the impedance controller parameters |
 

serl_robot_infra/robot_servers/franka_gripper_server.py

@@ -34,5 +34,12 @@ def close(self):
         msg.goal.force = 130
         self.grippergrasppub.publish(msg)
 
+    def move(self, position: int):
+        """Move the gripper to a specific position in range [0, 255]"""
+        msg = MoveActionGoal()
+        msg.goal.width = float(position / (255 * 10))  # width in [0, 0.1]m
+        msg.goal.speed = 0.3
+        self.grippermovepub.publish(msg)
+
     def update_gripper(self, msg):
         self.gripper_pos = np.sum(msg.position)