initial commit, add gello software code and instructions

experiments/launch_camera_nodes.py

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+from dataclasses import dataclass
+from multiprocessing import Process
+
+import tyro
+
+from gello.cameras.realsense_camera import RealSenseCamera, get_device_ids
+from gello.zmq_core.camera_node import ZMQServerCamera
+
+
+@dataclass
+class Args:
+    # hostname: str = "127.0.0.1"
+    hostname: str = "128.32.175.167"
+
+
+def launch_server(port: int, camera_id: int, args: Args):
+    camera = RealSenseCamera(camera_id)
+    server = ZMQServerCamera(camera, port=port, host=args.hostname)
+    print(f"Starting camera server on port {port}")
+    server.serve()
+
+
+def main(args):
+    ids = get_device_ids()
+    camera_port = 5000
+    camera_servers = []
+    for camera_id in ids:
+        # start a python process for each camera
+        print(f"Launching camera {camera_id} on port {camera_port}")
+        camera_servers.append(
+            Process(target=launch_server, args=(camera_port, camera_id, args))
+        )
+        camera_port += 1
+
+    for server in camera_servers:
+        server.start()
+
+
+if __name__ == "__main__":
+    main(tyro.cli(Args))