The repository is public, but only Anvil customers get access to the docker images referenced, which contain the logic driving our control stack, IK engine, and everything else.
Anvil Devboxes come pre-authenticated to pull these images from the cloud, giving Anvil customers an easy way to get the stack up and running.
System Configuration
We control the system's configuration using environment variables, which are set in .env.config and passed into the docker containers that run the software. In here you can change teleoperation control settings, camera resolution, and more. We will be continuously adding configurability here to give the user fine-grained control over the robot environment.
Robot Configuration
Anvil ships many different configurations of robot, each currently supported config is listed in /config. The selected config is indicated in the .env.config by the ARMS_CONTROL_CONFIG_FILE variable, so make sure the one chosen reflects the physical configuration of robots you have.
