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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2
.pre-commit-config.yaml
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@ -15,7 +15,7 @@ repos:
# code format according to black # code format according to black
- repo: https://github.com/ambv/black - repo: https://github.com/ambv/black
rev: 23.3.0 rev: 24.2.0
hooks: hooks:
- id: black - id: black

3
experiments/run_env.py
View file

@ -106,8 +106,7 @@ def main(args):
if args.agent == "gello": if args.agent == "gello":
gello_port = args.gello_port gello_port = args.gello_port
if gello_port is None: if gello_port is None:
# usb_ports = glob.glob("/dev/serial/by-id/*") usb_ports = glob.glob("/dev/serial/by-id/*")
usb_ports = glob.glob("/dev/cu.usbserial*")
print(f"Found {len(usb_ports)} ports") print(f"Found {len(usb_ports)} ports")
if len(usb_ports) > 0: if len(usb_ports) > 0:
gello_port = usb_ports[0] gello_port = usb_ports[0]

2
gello/agents/gello_agent.py
View file

@ -90,7 +90,7 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
gripper_config=(7, 20, -22), gripper_config=(7, 20, -22),
), ),
# Right UR # Right UR
"/dev/cu.usbserial-FT7WBG6A": DynamixelRobotConfig( "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBG6A-if00-port0": DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6), joint_ids=(1, 2, 3, 4, 5, 6),
joint_offsets=( joint_offsets=(
np.pi + 0 * np.pi, np.pi + 0 * np.pi,

2
requirements.txt
View file

@ -5,7 +5,7 @@ pygame
pyspacemouse pyspacemouse
PyQt6 PyQt6
pyquaternion pyquaternion
# pyrealsense2 pyrealsense2
pure-python-adb pure-python-adb
quaternion quaternion
tyro tyro

16
scripts/arm_blocks_play.py
View file

@ -18,15 +18,15 @@ class Args:
config = DynamixelRobotConfig( config = DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6), joint_ids=(1, 2, 3, 4, 5, 6),
joint_offsets=( joint_offsets=(
np.pi + 0 * np.pi, -np.pi / 2,
2 * np.pi + np.pi / 2, 1 * np.pi / 2 + np.pi,
2 * np.pi + np.pi / 2, np.pi / 2 + 0 * np.pi,
2 * np.pi + np.pi / 2, 0 * np.pi + np.pi / 2,
1 * np.pi, np.pi - 2 * np.pi / 2,
3 * np.pi / 2, -1 * np.pi / 2 + 2 * np.pi,
), ),
joint_signs=(1, 1, -1, 1, 1, 1), 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() action_space = env.action_spec()
if args.use_gello: if args.use_gello:
gello = config.make_robot( 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: def policy(timestep) -> np.ndarray: