This repository code for custom firmware and tools for the Annin AR4 robotic arm to enable teleoperation using GELLO.
This code should be considered experimental.
# install git if not already installed
sudo apt install git
git clone --recurse-submodules https://github.com/adob/ar4.git
cd ar4
Install Nix following the instructions at https://nixos.org/download/
This protects your files from being directly accessed by the code in this repository and its dependencies
# install firejail if not already installed
sudo apt install firejail
# start the development environment
./start-env.sh
# start devbox shell directly if not using ./start-env.sh
bin/devbox shell
pip install -r requirements.txt
pio init --ide vscode
cd firmware
pio run -t upload
# try the above command again if you receive `error writing to Teensy` the first time
bt run cmd/robotool.cc
bt run cmd/robogui/robogui.c
You will need the GELLO hardware for the AR4 from https://github.com/wuphilipp/gello_mechanical/tree/main/ar4.
A USB foot pedal such https://www.amazon.com/gp/product/B0B61981DP may also be handy.
bt run cmd/record_gello/record_gello.cc