# xArm
## Gripper hardware setup
Follow this guide to assemble the gripper: [Assembly Guide](https://nyu-gripper.pages.dev/robot-gripper)
Have the following materials ready:
* Download and print the [gripper mount](https://nyu-gripper.pages.dev/cad/Robot%20_Gripper/xarm7_print%20with%20tpu.stl) in **TPU**
* 4 M6 x 10mm Screws
* 4 M2.5 x 10mm Screws
* The [Dynamixel Starter Set](https://www.robotis.us/dynamixel-starter-set-us/), 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:
2. Connect the Power Hub to the U2D2 Board
3. Connect the U2D2 and your computer with the USB cable. A red light will turn on.
4. 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:
```bash
cd robot-server
python gripper_init.py
```
## Hardware Setup
1. **Power on** the xArm.
2. Ensure the **safety button is disengaged**:
3. **Attach gripper to the mount** with M2.5 x 10mm screws
4. **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.
2. **Calibrate Gripper**:
```bash
cd robot-server
conda activate home_robot
python auto_calibrate_gripper.py
```
3. **Start the robot server**:(Make sure to edit xArm IP):
```bash
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).
4. **Run the policy** in another terminal (requires display):
```bash
cd imitation-in-homes
conda activate home_robot
python run.py
```
5. Head to the [Playbook](https://docs.google.com/document/d/1nq0DX-a31FvFr1TDDIrt1seIKJJO8ftYRcByZvWp9IE/edit?tab=t.0)
### Available Policy Checkpoints
When running `python run.py`, you can select from these preconfigured checkpoints:
* **`run_vqbet_pick`**: default checkpoint for picking task.
* **`run_vqbet_open`**: default checkpoint for opening task.
* **`run_vqbet_close`**: default checkpoint for closing task.
* **`run_vqbet_pick_exp`**: experimental pick checkpoint.
Choose the config that matches your task and substitute it in:
```bash
python run.py --config-name=
```
***
