minor

.pre-commit-config.yaml

@@ -15,7 +15,7 @@ repos:
 
 # code format according to black
 -   repo: https://github.com/ambv/black
-    rev: 23.3.0
+    rev: 24.2.0
     hooks:
     -   id: black
 

experiments/run_env.py

@@ -106,8 +106,7 @@ def main(args):
         if args.agent == "gello":
             gello_port = args.gello_port
             if gello_port is None:
-                # usb_ports = glob.glob("/dev/serial/by-id/*")
-                usb_ports = glob.glob("/dev/cu.usbserial*")
+                usb_ports = glob.glob("/dev/serial/by-id/*")
                 print(f"Found {len(usb_ports)} ports")
                 if len(usb_ports) > 0:
                     gello_port = usb_ports[0]

gello/agents/gello_agent.py

@@ -90,7 +90,7 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
         gripper_config=(7, 20, -22),
     ),
     # Right UR
-    "/dev/cu.usbserial-FT7WBG6A": DynamixelRobotConfig(
+    "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBG6A-if00-port0": DynamixelRobotConfig(
         joint_ids=(1, 2, 3, 4, 5, 6),
         joint_offsets=(
             np.pi + 0 * np.pi,

requirements.txt

@@ -5,7 +5,7 @@ pygame
 pyspacemouse
 PyQt6
 pyquaternion
-# pyrealsense2
+pyrealsense2
 pure-python-adb
 quaternion
 tyro

scripts/arm_blocks_play.py

@@ -18,15 +18,15 @@ class Args:
 config = DynamixelRobotConfig(
     joint_ids=(1, 2, 3, 4, 5, 6),
     joint_offsets=(
-        np.pi + 0 * np.pi,
-        2 * np.pi + np.pi / 2,
-        2 * np.pi + np.pi / 2,
-        2 * np.pi + np.pi / 2,
-        1 * np.pi,
-        3 * np.pi / 2,
+        -np.pi / 2,
+        1 * np.pi / 2 + np.pi,
+        np.pi / 2 + 0 * np.pi,
+        0 * np.pi + np.pi / 2,
+        np.pi - 2 * np.pi / 2,
+        -1 * np.pi / 2 + 2 * np.pi,
     ),
     joint_signs=(1, 1, -1, 1, 1, 1),
-    gripper_config=(7, 286, 248),
+    gripper_config=(7, 20, -22),
 )
 
 
@@ -40,7 +40,7 @@ def main(args: Args) -> None:
     action_space = env.action_spec()
     if args.use_gello:
         gello = config.make_robot(
-            port="/dev/cu.usbserial-FT7WBG6A", start_joints=reset_joints_left
+            port="/dev/cu.usbserial-FT7WBEIA", start_joints=reset_joints_left
         )
 
     def policy(timestep) -> np.ndarray: