robossembler/gello_software
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This commit is contained in:
Philipp Wu 2024-04-04 16:31:30 -07:00
parent 7001842e7a
commit 23892c535d
5 changed files with 12 additions and 13 deletions
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16
scripts/arm_blocks_play.py
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@ -18,15 +18,15 @@ class Args:
config = DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6),
joint_offsets=(
np.pi + 0 * np.pi,
2 * np.pi + np.pi / 2,
2 * np.pi + np.pi / 2,
2 * np.pi + np.pi / 2,
1 * np.pi,
3 * np.pi / 2,
-np.pi / 2,
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,
),
joint_signs=(1, 1, -1, 1, 1, 1),
gripper_config=(7, 286, 248),
gripper_config=(7, 20, -22),
)
@ -40,7 +40,7 @@ def main(args: Args) -> None:
action_space = env.action_spec()
if args.use_gello:
gello = config.make_robot(
port="/dev/cu.usbserial-FT7WBG6A", start_joints=reset_joints_left
port="/dev/cu.usbserial-FT7WBEIA", start_joints=reset_joints_left
)
def policy(timestep) -> np.ndarray: