minoir

README.md

@@ -31,7 +31,7 @@ docker build . -t gello:latest
 
 We have provided an entry point into the docker container
 ```
-python experiments/launch.py
+python scripts/launch.py
 ```
 
 # GELLO configuration setup (PLEASE READ)

gello/dynamixel/driver.py

@@ -20,7 +20,6 @@ ADDR_TORQUE_ENABLE = 64
 ADDR_GOAL_POSITION = 116
 LEN_GOAL_POSITION = 4
 ADDR_PRESENT_POSITION = 132
-ADDR_PRESENT_POSITION = 140
 LEN_PRESENT_POSITION = 4
 TORQUE_ENABLE = 1
 TORQUE_DISABLE = 0
@@ -257,10 +256,11 @@ def main():
     except FileNotFoundError:
         driver = DynamixelDriver(ids, port="/dev/cu.usbserial-FT7WBMUB")
 
+    # Test setting torque mode
     driver.set_torque_mode(True)
     driver.set_torque_mode(False)
 
-    # Print the joint angles
+    # Test reading the joint angles
     try:
         while True:
             joint_angles = driver.get_joints()
@@ -271,4 +271,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()  # Test the driver