This is leader follower system for UFACTORY Lite 6.
I use OpenParallelGripper for this project:
https://github.com/hygradme/OpenParallelGripper
If you don't have this gripper, please change the config "use_gripper": false
- xArm-Python-SDK (https://github.com/xArm-Developer/xArm-Python-SDK)
- dynamixel_sdk (https://github.com/ROBOTIS-GIT/DynamixelSDK)
- numpy
Check config.json and fix it to fit your environment.
Launch leader follower system
python lauch_dual_leader_follower.py
About config.json
"DEVICENAME": "COM7"
"use_gripper": true
"use_follower": true
If true, the follower robot move. Please be careful. If false, just show the value from leader.
"use_left": true
Make either use_left or use_right to true to use this system with single arm configuration.
"use_right": true
"ip_robot_left": "192.168.1.188"
"ip_robot_right": "192.168.1.160"
"leader_baudrate": 57600
Default baudrate of Dynamixel is 57600 and you need to use Dynamixel Wizard software to change the baudrate if you need higher frequency control. I recommend 1000000 to avoid unnecessary vibration of follower robots.
"DXL_IDs_left": [1, 2, 3, 4, 5, 6]
Dynamixel IDs corresponding to axis 1~6 of left Lite 6
"DXL_IDs_right": [11, 12, 13, 14, 15, 16],
Dynamixel IDs corresponding to axis 1~6 of right Lite 6
Gripper config:
"gripper_follower_baudrate": 115200
"gripper_id_left": [8]
"gripper_id_right": [18]
"gripper_scale": 8
"gripper_offset_left": 40
"gripper_offset_right": 40
"gripper_pos_max_deg": 250
"gripper_pos_min_deg": 30