minoir

wuphilipp · Apr 4, 2024 · abd53a4 · abd53a4
1 parent 23892c5
commit abd53a4
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/README.md b/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)

diff --git a/gello/dynamixel/driver.py b/gello/dynamixel/driver.py
@@ -20,7 +20,6 @@
 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