Aloha Gripper on Stretch RE1

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Hi there,

I was trying to follow the Aloha 2 Gripper on Stretch 3 tutorial but on Stretch RE1. I followed the instructions specified in the tutorial but also added tool definition dictionary SE3_wrist_dw3_aloha_gripper and aloha gripper device param dictionary SE3_aloha_gripper robot_params_SE3.py to robot_params_RE1V0.py instead of to robot_params_SE3.py.

This is was the output when I try to run stretch_gamepad_teleop.py:

hello-robot@stretch-re1-1053:~$ stretch_gamepad_teleop.py
For use with S T R E T C H (R) from Hello Robot Inc.
---------------------------------------------------------------------

Key mapped to End-Of-Arm Tool: eoa_wrist_dw3_aloha_gripper
[ERROR] [wrist_pitch]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[WARNING] [wrist_pitch]: DynamixelHelloXL430 Ping failed... wrist_pitch
DynamixelHelloXL430 Ping failed... wrist_pitch
Dnamixel Com error: 
Unable to load URDF: /home/hello-robot/.local/lib/python3.8/site-packages/stretch_urdf/RE1V0/stretch_description_RE1V0_eoa_wrist_dw3_aloha_gripper.urdf. Disabling collision system.

I assumed that the error was because I had to change some things in stretch_configuration_params.yaml. According to the instructions and other forums, I was supposed to change the robot.tool parameter, but there was no such parameter. I added the tool: eoa_wrist_dw3_aloha_gripper line, but there was no “tool line” to begin with.

I also added the aloha_gripper section with the tick values (I was able to measure those values using REx_dynamixel_jog.py /dev/hello-dynamixel-wrist 16):

robot:
  tool: eoa_wrist_dw3_aloha_gripper
  batch_name: Joplin
  d435i:
    serial_no: '043422070031'
  model_name: RE1V0
  serial_no: stretch-re1-1053
aloha_gripper:
  baud: 57600
  range_t:
  - 1897
  - 868

What can be the issue at hand, and how can I fix it? Nothing returns when I use stretch_params.py | grep param.aloha_gripper.

Thank you

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