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working torso and add camera

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This commit is contained in:
Philipp Wu 2024-05-13 20:25:10 -07:00
parent daae81f4a7
commit e05749660a
2 changed files with 8 additions and 7 deletions
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2
experiments/run_env.py
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@ -117,7 +117,7 @@ def main(args):
)
if args.start_joints is None:
reset_joints = np.deg2rad(
[0, -90, 90, -90, -90, 0, 0]
[0, 0, 0, 90, 0, 90, 0, 0]
) # Change this to your own reset joints
else:
reset_joints = args.start_joints

13
gello/agents/gello_agent.py
View file

@ -61,19 +61,20 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
# ),
# panda
# "/dev/cu.usbserial-FT3M9NVB": DynamixelRobotConfig(
"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT3M9NVB-if00-port0": DynamixelRobotConfig(
# "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT3M9NVB-if00-port0": DynamixelRobotConfig(
"/dev/cu.usbserial-FT89FJNO": DynamixelRobotConfig(
joint_ids=(1, 2, 3, 4, 5, 6, 7),
joint_offsets=(
3 * np.pi / 2,
2 * np.pi / 2,
1 * np.pi / 2,
2 * np.pi / 2,
4 * np.pi / 2,
-2 * np.pi / 2 + 2 * np.pi,
0 * np.pi / 2,
2 * np.pi / 2,
3 * np.pi / 2,
3 * np.pi / 2,
4 * np.pi / 2,
),
joint_signs=(1, -1, 1, 1, 1, -1, 1),
gripper_config=(8, 195, 152),
gripper_config=(8, 205, 170),
),
# Left UR
"/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBEIA-if00-port0": DynamixelRobotConfig(