Manual Integration

Integrate your robot's SDK to run with Reforge.

Installation

Download the reforge-interface repository from GitHub:

bash
git clone https://github.com/reforge-robotics/reforge-interface.git
cd reforge-interface

Add your robot's Python SDK to reforge-interface/requirements.txt (or pip install <your_sdk> directly) and your robot's URDF to reforge-interface/robots/urdf. Then, create a virtual environment to install and build packages:

bash
python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt
pip install .

Usage

Before you can run the robot calibration, you need to edit the reforge-interface/robot/robot_interface.py script to use your robot's SDK. Instructions for editing are described in the script. Test your implementation by running the connect_test (after rebuilding pip install .):

bash
python3 -m robot.run connect_test <robot_ip> --local_ip <local_ip> --sdk_token <robot_sdk_token>

After the connection check succeeds, run the ordered physical qualification:

bash
python -m robot.run test_robot_interface <robot_ip>

The qualification uses the real integration constructor and can move hardware. Review the workcell and emergency-stop procedure before confirming a motion prompt. Use --all-previous <block> to qualify incrementally or --test <name> to repeat one failed check.