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 @@ def make_robot(
  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: