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This commit is contained in:
Philipp Wu 2024-02-10 13:01:30 -08:00
parent e6a660da6d
commit 06182ca7b1
2 changed files with 6 additions and 5 deletions
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9
gello/agents/gello_agent.py
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@ -76,15 +76,16 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
gripper_config=(8, 195, 152),
),
# Left UR
"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBEIA-if00-port0": DynamixelRobotConfig(
# "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBEIA-if00-port0": DynamixelRobotConfig(
"/dev/cu.usbserial-FT7WBEIA": DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6),
joint_offsets=(
0,
1 * np.pi / 2 + np.pi,
np.pi / 2 + 0 * np.pi,
0 * np.pi + np.pi / 2,
np.pi - 2 * np.pi / 2,
-1 * np.pi / 2 + 2 * np.pi,
2 * np.pi + np.pi / 2,
np.pi - 2 * np.pi / 2 + 2 * np.pi,
-1 * np.pi / 2 + 1 * np.pi,
),
joint_signs=(1, 1, -1, 1, 1, 1),
gripper_config=(7, 20, -22),

2
gello/dm_control_tasks/arms/manipulator.py
View file

@ -225,5 +225,5 @@ class ArmObservables(composer.Observables):
self.flange_position,
# self.flange_orientation,
# self.flange_velocity,
self.flange_angular_velocity,
# self.flange_angular_velocity,
] + self._collect_from_attachments("proprioception")