robossembler/gello_software
7
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

minoir

Browse source
This commit is contained in:
Philipp Wu 2024-04-04 16:36:39 -07:00
parent 23892c535d
commit abd53a4c2b
2 changed files with 4 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

2
README.md
View file

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

6
gello/dynamixel/driver.py
View file

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