Bugfixes.

experiments/run_env.py

@@ -106,7 +106,8 @@ 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/serial/by-id/*")
+                usb_ports = glob.glob("/dev/cu.usbserial*")
                 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/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBG6A-if00-port0": DynamixelRobotConfig(
+    "/dev/cu.usbserial-FT7WBG6A": DynamixelRobotConfig(
         joint_ids=(1, 2, 3, 4, 5, 6),
         joint_offsets=(
             np.pi + 0 * np.pi,

gello/dm_control_tasks/arms/manipulator.py

@@ -225,5 +225,5 @@ class ArmObservables(composer.Observables):
             self.flange_position,
             # self.flange_orientation,
             # self.flange_velocity,
-            self.flange_angular_velocity,
+            # self.flange_angular_velocity,
         ] + self._collect_from_attachments("proprioception")

gello/dynamixel/driver.py

@@ -237,8 +237,8 @@ class DynamixelDriver(DynamixelDriverProtocol):
         # Return a copy of the joint_angles array to avoid race conditions
         while self._joint_angles is None:
             time.sleep(0.1)
-        with self._lock:
-            _j = self._joint_angles.copy()
+        # with self._lock:
+        _j = self._joint_angles.copy()
         return _j / 2048.0 * np.pi
 
     def close(self):

gello/robots/dynamixel.py

@@ -86,11 +86,11 @@ class DynamixelRobot(Robot):
             if gripper_config is not None:
                 current_joints = current_joints[:-1]
                 start_joints = start_joints[:-1]
-            for c_joint, s_joint, joint_offset in zip(
+            for idx, (c_joint, s_joint, joint_offset) in enumerate(zip(
                 current_joints, start_joints, self._joint_offsets
-            ):
+            )):
                 new_joint_offsets.append(
-                    np.pi * 2 * np.round((s_joint - c_joint) / (2 * np.pi))
+                    np.pi * 2 * np.round((-s_joint + c_joint) / (2 * np.pi)) * self._joint_signs[idx]
                     + joint_offset
                 )
             if gripper_config is not None:

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 / 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,
+        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,
     ),
     joint_signs=(1, 1, -1, 1, 1, 1),
-    gripper_config=(7, 20, -22),
+    gripper_config=(7, 286, 248),
 )
 
 
@@ -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-FT7WBEIA", start_joints=reset_joints_left
+            port="/dev/cu.usbserial-FT7WBG6A", start_joints=reset_joints_left
         )
 
     def policy(timestep) -> np.ndarray: