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Control aloha robot natively (#316)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-09-04 19:28:05 +02:00
committed by GitHub
parent 27ba2951d1
commit 429a463aff
32 changed files with 898 additions and 390 deletions
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.cache/calibration/aloha_default/left_follower.json Normal file
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{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2015, 3058, 3061, 1071, 1071, 2035, 2152, 2029, 2499], "end_pos": [-1008, -1963, -1966, 2141, 2143, -971, 3043, -1077, 3144], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}

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.cache/calibration/aloha_default/left_leader.json Normal file
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{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -1024], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2035, 3024, 3019, 979, 981, 1982, 2166, 2124, 1968], "end_pos": [-990, -2017, -2015, 2078, 2076, -1030, 3117, -1016, 2556], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}

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.cache/calibration/aloha_default/right_follower.json Normal file
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{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2056, 2895, 2896, 1191, 1190, 2018, 2051, 2056, 2509], "end_pos": [-1040, -2004, -2006, 2126, 2127, -1010, 3050, -1117, 3143], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}

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.cache/calibration/aloha_default/right_leader.json Normal file
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{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2068, 3034, 3030, 1038, 1041, 1991, 1948, 2090, 1985], "end_pos": [-1025, -2014, -2015, 2058, 2060, -955, 3091, -940, 2576], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}