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aloha_cmds.txt
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roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s
rosservice call /wx250s/torque_enable "{cmd_type: 'group', name: 'all', enable: false}"
roslaunch interbotix_xsarm_moveit xsarm_moveit.launch robot_model:=wx250s use_actual:=true dof:=6
roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s use_cpp_interface:=true use_actual:=true dof:=6
roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s use_cpp_interface:=true use_fake:=true dof:=6
roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s use_python_interface:=true use_actual:=true dof:=6
roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s use_python_interface:=true use_fake:=true dof:=6
pip3 install pyquaternion pyyaml rospkg pexpect mujoco==2.3.7 dm_control==1.0.14 opencv-python matplotlib einops packaging h5py
sudo apt-get install -y ros-noetic-cv-bridge ros-noetic-usb-cam
catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3