realman_software_doc.md

RealMan Robot Usage

You can run codes in the scripts to control different parts of the robot.

Please check out cfg which contains all configuration files before running the scripts.

• run_arm_left
• run_arm_right
• run_base
• run_camera
• run_head

Modules

• run_clip
• run_dmp
• run_dtsam
• run_gemini
• run_gum
• run_server

Code Base

• arm
  • arm_package
  • arm.py
• dmp (Dynamic Movement Primitives (DMPs))
  • dmp_package
  • dmp.py
• dtsam (Detic + SAM)
  • dtsam_package
  • dtsam.py
• ransac (Random Sample Consensus (RANSAC))
  • ransac_package
  • ransac.py
• gum (Grasping-and-Unlocking Model (GUM))
  • gum_package
  • gum.py

DEBUG

Problem: AttributeError: module 'clip' has no attribute 'load'

• pip install git+https://github.com/openai/CLIP.git
• reference: openai/CLIP#180