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Your Name 2024-05-25 23:34:18 -07:00
parent e05749660a
commit bf62f03e06
4 changed files with 91 additions and 51 deletions
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16
gello/agents/gello_agent.py
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@ -61,20 +61,22 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
# ),
# panda
# "/dev/cu.usbserial-FT3M9NVB": DynamixelRobotConfig(
# "/dev/cu.usbserial-FT89FJNO": DynamixelRobotConfig(
# "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT3M9NVB-if00-port0": DynamixelRobotConfig(
"/dev/cu.usbserial-FT89FJNO": DynamixelRobotConfig(
"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT89FJNO-if00-port0": DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6, 7),
joint_offsets=(
1 * np.pi / 2,
2 * np.pi / 2,
4 * np.pi / 2,
2 * np.pi / 2,
0 * np.pi / 2,
0 * np.pi / 2,
2 * np.pi / 2,
3 * np.pi / 2,
3 * np.pi / 2,
1 * np.pi / 2,
3 * np.pi / 2 - np.pi/3,
),
joint_signs=(1, -1, 1, 1, 1, -1, 1),
gripper_config=(8, 205, 170),
joint_signs=(1, 1, 1, 1, 1, 1, 1),
gripper_config=(8, 209, 168),
),
# Left UR
"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBEIA-if00-port0": DynamixelRobotConfig(