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Add support for ViperX 6-dof arm

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This commit is contained in:
Brian Smith 2024-02-16 11:29:51 -08:00
parent e6a660da6d
commit 7d2fef959e
4 changed files with 89 additions and 7 deletions
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8
experiments/run_env.py
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@ -9,7 +9,7 @@ import numpy as np
import tyro
from gello.agents.agent import BimanualAgent, DummyAgent
from gello.agents.gello_agent import GelloAgent
from gello.agents.gello_agent import GelloAgent, known_gello_port
from gello.data_utils.format_obs import save_frame
from gello.env import RobotEnv
from gello.robots.robot import PrintRobot
@ -108,8 +108,10 @@ def main(args):
if gello_port is None:
usb_ports = glob.glob("/dev/serial/by-id/*")
print(f"Found {len(usb_ports)} ports")
if len(usb_ports) > 0:
gello_port = usb_ports[0]
# Need to filter out non-gello Dynamixel based robots
gello_ports = [port for port in usb_ports if known_gello_port(port)]
if len(gello_ports) > 0:
gello_port = gello_ports[0]
print(f"using port {gello_port}")
else:
raise ValueError(