robossembler/gello_software
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UPDATE emancro gello

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This commit is contained in:
Yuwei Xia 2024-09-23 13:19:29 -07:00
parent daae81f4a7
commit 8e84ad0222
6 changed files with 153 additions and 64 deletions
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6
gello/robots/dynamixel.py
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@ -30,6 +30,7 @@ class DynamixelRobot(Robot):
if gripper_config is not None:
assert joint_offsets is not None
assert joint_signs is not None
print("add gripper...")
# joint_ids.append(gripper_config[0])
# joint_offsets.append(0.0)
@ -41,6 +42,7 @@ class DynamixelRobot(Robot):
gripper_config[1] * np.pi / 180,
gripper_config[2] * np.pi / 180,
)
print(f"joint_ids: {joint_ids}")
else:
self.gripper_open_close = None
@ -109,10 +111,13 @@ class DynamixelRobot(Robot):
if self.gripper_open_close is not None:
# map pos to [0, 1]
# print(f"pos: {pos[-1]}")
# print(f"gripper_open_close: {self.gripper_open_close}")
g_pos = (pos[-1] - self.gripper_open_close[0]) / (
self.gripper_open_close[1] - self.gripper_open_close[0]
)
g_pos = min(max(0, g_pos), 1)
# print(f"g_pos: {g_pos}")
pos[-1] = g_pos
if self._last_pos is None:
@ -125,6 +130,7 @@ class DynamixelRobot(Robot):
return pos
def command_joint_state(self, joint_state: np.ndarray) -> None:
print(f"Command driver here as {(joint_state + self._joint_offsets).tolist()}")
self._driver.set_joints((joint_state + self._joint_offsets).tolist())
def set_torque_mode(self, mode: bool):