LeRobot-SO100入门教程-校准机械臂

说明：

• 介绍如何校准LeRobot-SO100机械臂

• 先连接上主臂，再连接上从臂

• 主臂的端口号：/dev/ttyACM0，从臂的端口号：/dev/ttyACM1

相关设备

• LeRobot-SO100套件：采购地址

步骤：

• 加载lerobot环境

    conda activate lerobot

• 注意：校准机械臂前，确保删除之前的校准文件main_follower.json，main_leader.json，以防止旧数据干扰新的校准过程

    cd ~/lerobot/.cache/calibration/so100
    rm main_follower.json main_leader.json

• 注意：在校准机械臂的时候，需要确保校准每个姿势之间，保持更长的时间，以便它捕捉到正确的位置

校准从臂:

• 进入lerobot目录

    cd ~/lerobot

• 校准从臂（follower arm），每做好一个姿势，就按回车键。将从臂按顺序移动到以下位置

    python3 ~/lerobot/lerobot/scripts/control_robot.py \
      --robot.type=so100 \
      --robot.cameras='{}' \
      --control.type=calibrate \
      --control.arms='["main_follower"]'

• 校准完成后的文件保存在当前目录

    ~/lerobot/.cache/calibration/so100/main_follower.json

• 生成的校准文件main_follower.json的内容如下：

{"homing_offset": [-2017, 3993, -4149, -1101, 1122, -945], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [2029, 3984, 4065, 1123, 1036, 894], "end_pos": [3041, -2969, 5173, 2125, -98, 1969], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

• 生成的校准文件main_leader.json的内容如下：

{"homing_offset": [-2049, 3795, -4211, -1976, 3122, -1379], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [2081, 3891, 4058, 2004, 3049, 1330], "end_pos": [3073, -2771, 5235, 3000, -2098, 2403], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

• 校准过程如下：

Calibration file not found '.cache/calibration/so100/main_follower.json'
Connecting main follower arm.
Connecting main leader arm.
Missing calibration file '.cache/calibration/so100/main_follower.json'

Running calibration of so100 main follower...

Move arm to zero position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/so100/follower_zero.webp
Press Enter to continue...

Move arm to rotated target position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/so100/follower_rotated.webp
Press Enter to continue...

Move arm to rest position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/so100/follower_rest.webp
Press Enter to continue...

Calibration is done! Saving calibration file '.cache/calibration/so100/main_follower.json'
Missing calibration file '.cache/calibration/so100/main_leader.json'

Running calibration of so100 main leader...

Move arm to zero position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/so100/leader_zero.webp
Press Enter to continue...

Move arm to rotated target position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/so100/leader_rotated.webp
Press Enter to continue...

Move arm to rest position
See: https://raw.githubusercontent.com/huggingface/lerobot/main/media/so100/leader_rest.webp
Press Enter to continue...

Calibration is done! Saving calibration file '.cache/calibration/so100/main_leader.json'
Activating torque on main follower arm.
Calibration is done! You can now teleoperate and record datasets!

• 以上执行程序的参数含义：

      --robot.type=so100 ： 指定机器人类型so100
      --robot.cameras='{}' ： 用于配置机器人所搭载的摄像头
      --control.type=calibrate ： 表明要对机器人进行校准操作
      --control.arms='["main_follower"]' ： 指定要控制的从臂

• 校准从臂生成文件main_follower.json内容如下：

    {"homing_offset": [-2013, 3136, -795, -1955, 1104, -1008], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [2066, 3159, 738, 1924, 1102, 898], "end_pos": [3037, -2112, 1819, 2979, -80, 2032], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

校准主臂:

• 校准主臂（leader arm），每做好一个姿势，就按回车键。将主臂按顺序移动到以下位置

    python3 ~/lerobot/lerobot/scripts/control_robot.py \
      --robot.type=so100 \
      --robot.cameras='{}' \
      --control.type=calibrate \
      --control.arms='["main_leader"]'

• 以上执行程序的参数含义：

      --robot.type=so100 ： 指定机器人类型so100
      --robot.cameras='{}' ： 用于配置机器人所搭载的摄像头
      --control.type=calibrate ： 表明要对机器人进行校准操作
      --control.arms='["main_leader"]' ： 指定要控制的主臂

• 校准完成后的文件保存在当前目录

    ~/lerobot/.cache/calibration/so100/main_leader.json

• 校准主臂生成文件main_leader.json内容如下：

    {"homing_offset": [-2077, 3873, -65, -1941, 3193, -1387], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [2109, 3869, 37, 1972, 3104, 1333], "end_pos": [3101, -2849, 1089, 2965, -2169, 2411], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

演示视频