LeRobot-LeKiwi入门教程-配置网络IP

说明：

• 介绍如何配置网络IP

• 先连接底部的摄像头，再连接抓取的摄像头

• 使用虚拟机控制主臂，使用树莓派控制从臂

步骤：

• 进入目录

cd ~/lerobot/lerobot/common/robot_devices/robots

• video0是鱼眼相机的分辨率和帧数，video2普通相机的分辨率和帧数

"front": OpenCVCameraConfig(
     camera_index="/dev/video0", fps=30, width=352, height=288, rotation=180
),
"wrist": OpenCVCameraConfig(
     camera_index="/dev/video2", fps=25, width=640, height=480, rotation=90
),

• 修改虚拟机pc上的文件内容，ip为树莓派的ip地址192.168.0.29。

  修改camera_index=/dev/video0，camera_index=/dev/video2，相机的fps

vim configs.py

 @RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiRobotConfig(RobotConfig):
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    # Network Configuration
    ip: str = "192.168.0.29"
    port: int = 5555
    video_port: int = 5556

    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "front": OpenCVCameraConfig(
                camera_index="/dev/video0", fps=30, width=640, height=480, rotation=90
            ),
            "wrist": OpenCVCameraConfig(
                camera_index="/dev/video2", fps=30, width=640, height=480, rotation=180
            ),
        }
    )

    calibration_dir: str = ".cache/calibration/lekiwi"

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/ttyACM0",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                },
            ),
        }
    )

    follower_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/ttyACM0",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                    "left_wheel": (7, "sts3215"),
                    "back_wheel": (8, "sts3215"),
                    "right_wheel": (9, "sts3215"),
                },
            ),
        }
    )

    teleop_keys: dict[str, str] = field(
        default_factory=lambda: {
            # Movement
            "forward": "w",
            "backward": "s",
            "left": "a",
            "right": "d",
            "rotate_left": "z",
            "rotate_right": "x",
            # Speed control
            "speed_up": "r",
            "speed_down": "f",
            # quit teleop
            "quit": "q",
        }
    )

    mock: bool = False

• 修改树莓派上的文件内容，ip为虚拟机pc的ip地址192.168.0.212。

  修改camera_index=/dev/video0，camera_index=/dev/video2，相机的fps

@RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiRobotConfig(RobotConfig):
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    # Network Configuration
    ip: str = "192.168.0.212"
    port: int = 5555
    video_port: int = 5556

    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "front": OpenCVCameraConfig(
                camera_index="/dev/video0", fps=25, width=640, height=480, rotation=90
            ),
            "wrist": OpenCVCameraConfig(
                camera_index="/dev/video2", fps=25, width=640, height=480, rotation=180
            ),
        }
    )

    calibration_dir: str = ".cache/calibration/lekiwi"

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/tty.usbmodem585A0077581",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                },
            ),
        }
    )


    follower_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/ttyACM0",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                    "left_wheel": (7, "sts3215"),
                    "back_wheel": (8, "sts3215"),
                    "right_wheel": (9, "sts3215"),
                },
            ),
        }
    )

    teleop_keys: dict[str, str] = field(
        default_factory=lambda: {
            # Movement
            "forward": "w",
            "backward": "s",
            "left": "a",
            "right": "d",
            "rotate_left": "z",
            "rotate_right": "x",
            # Speed control
            "speed_up": "r",
            "speed_down": "f",
            # quit teleop
            "quit": "q",
        }
    )

    mock: bool = False