xArm

Gripper hardware setup

Follow this guide to assemble the gripper: Assembly Guide

Have the following materials ready:

• Download and print the gripper mount in TPU

• 4 M6 x 10mm Screws

• 4 M2.5 x 10mm Screws

• The Dynamixel Starter Set, which includes parts 2-6 in the photo below:

1. Connect the Dynamixel Motor to the U2D2 Power Hub. You will hear a clicking sound when connected:

1. Connect the Power Hub to the U2D2 Board

1. Connect the U2D2 and your computer with the USB cable. A red light will turn on.

1. Plug the 12V 5A power supply into the U2D2 Power Hub board and switch on the power. A red LED should turn on.

Go to the robot-server directory and run this script to initialize the gripper:

cd robot-server
python gripper_init.py

Hardware Setup

1. Power on the xArm.

2. Ensure the safety button is disengaged:

1. Attach gripper to the mount with M2.5 x 10mm screws

1. Mount your 3D printed TPU xArm mount with M6 x 10mm screws

Deploying a Trained Policy

1. Set up the iPhone on the robot:

   • Slide the iPhone into the gripper mount until the camera block hits the mount, then tighten the knob (snug, not over-tight).

• Connect the iPhone to the robot via USB.

• In Record3D app settings: set RGBD Streaming mode to USB and FPS to 30.

• Press Record to enter “stream-ready” mode.

1. Calibrate Gripper:

   cd robot-server
   conda activate home_robot
   python auto_calibrate_gripper.py

2. Start the robot server:(Make sure to edit xArm IP):

   python3 start_server.py controller=xarm network.xarm_ip=???

   This starts streaming images from the iPhone and the robot begins listening for action commands. If you have missing imports, try pip3 install hydra-core record3d (and any other missing packages).

3. Run the policy in another terminal (requires display):

   cd imitation-in-homes
   conda activate home_robot
   python run.py

4. Head to the Playbook

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