OpenDuckMini快速入门教程-设置关节偏移
前提准备
- 使用纸箱或者支架从底部中间将鸭子架高
- 提前了解舵机位置图
- 将鸭子设置成直立姿势，检查舵机位置
$ cd ~/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts
$ python check_motors.py
...
Checking if all motors are responsive...
Attempting to read position from motor 'left_hip_yaw' (ID: 20)...
✓ Motor 'left_hip_yaw' (ID: 20) is responsive. Position: -0.069
Attempting to read position from motor 'left_hip_roll' (ID: 21)...
✓ Motor 'left_hip_roll' (ID: 21) is responsive. Position: 0.083
Attempting to read position from motor 'left_hip_pitch' (ID: 22)...
✓ Motor 'left_hip_pitch' (ID: 22) is responsive. Position: -0.147
Attempting to read position from motor 'left_knee' (ID: 23)...
✓ Motor 'left_knee' (ID: 23) is responsive. Position: -0.193
Attempting to read position from motor 'left_ankle' (ID: 24)...
✓ Motor 'left_ankle' (ID: 24) is responsive. Position: 0.316
Attempting to read position from motor 'neck_pitch' (ID: 30)...
✓ Motor 'neck_pitch' (ID: 30) is responsive. Position: 0.514
Attempting to read position from motor 'head_pitch' (ID: 31)...
✓ Motor 'head_pitch' (ID: 31) is responsive. Position: -0.143
Attempting to read position from motor 'head_yaw' (ID: 32)...
✓ Motor 'head_yaw' (ID: 32) is responsive. Position: 0.316
Attempting to read position from motor 'head_roll' (ID: 33)...
✓ Motor 'head_roll' (ID: 33) is responsive. Position: -0.110
Attempting to read position from motor 'right_hip_yaw' (ID: 10)...
✓ Motor 'right_hip_yaw' (ID: 10) is responsive. Position: -0.17
Attempting to read position from motor 'right_hip_roll' (ID: 11)...
✓ Motor 'right_hip_roll' (ID: 11) is responsive. Position: 0.067
Attempting to read position from motor 'right_hip_pitch' (ID: 12)...
✓ Motor 'right_hip_pitch' (ID: 12) is responsive. Position: 0.112
Attempting to read position from motor 'right_knee' (ID: 13)...
✓ Motor 'right_knee' (ID: 13) is responsive. Position: 0.175
Attempting to read position from motor 'right_ankle' (ID: 14)...
✓ Motor 'right_ankle' (ID: 14) is responsive. Position: 0.118
当鸭子处于直立状态时，舵机的位置应该接近0
操作步骤
正常组装的情况下，当鸭子处于完全直立状态时，舵机的位置应该为0
组装时某些位置装得不对，比如舵盘装斜了，会导致直立时角度有偏差
调整关节偏移的目的是对这些组装问题进行处理修复
通常情况下，两腿应处于平行状态
启动调整关节偏移的脚本
$ ~/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts
$ python find_soft_offsets.py
Warning : didn't provide a config json path, using default values
======
Warning : this script will move the robot to its zero position quiclky, make sure it is safe to do so
======
Press any key to start. The robot will move to its zero position. Make sure it is safe to do so. At any time, press ctrl+c to stop, the motors will be turned off.
d_coefficient: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
turn on : low KPS set
turn on : init pos set
d_coefficient: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
turn on : high kps
=== Setting up left_hip_yaw === (Y/(s)kip : y
left_hip_yaw is now turned off. Move it to the desired zero position and press any key to confirm the offset
---> Offset is -0.1
Press any key to move the motor to its zero position with offset taken into account
Is that ok ? (Y/n)y
Ok, setting offset
------
Current offsets :
left_hip_yaw : -0.1
left_hip_roll : -0.0
left_hip_pitch : -0.0
left_knee : -0.0
left_ankle : -0.0
neck_pitch : 0.0
head_pitch : 0.0
head_yaw : 0.0
head_roll : 0.0
right_hip_yaw : 0.0
right_hip_roll : 0.0
right_hip_pitch : 0.0
right_knee : 0.0
right_ankle : -0.0
------
- 首先设置
left_hip_roll舵机的零位，按y键进入设置，s键跳过设置 - 进入设置后舵机会处于解除扭矩状态，你可以随意转动舵机到目标零位的位置，然后按任意键确定
- 此时终端会输出当前舵机的偏移值
---> Offset is -0.1 - 再按任意键后，舵机会移动到应用偏移量后的零点位置
- 最后确认是否满意当前舵机的位置，按
y键继续下个设置，n键返回 - 将得出的偏移值保存在根目录下
duck_config.json文件上
测试
- 运行turn_on脚本
$ cd ~/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts
$ python turn_on.py
- 启动脚本后，鸭子应处于舵机扭矩锁定的曲腿姿态
- 解除舵机扭矩锁定
$ cd ~/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts
$ python turn_off.py
FAQ
问题一：运行find_soft_offsets.py时，大腿呈水平姿态
- 类似这样
- 问题原因可能为： 组装没有横置安装22或者12号舵机，此时舵机的位置约为-1.57
解决方法
第一种方法
- 直接在
find_soft_offsets.py下调整偏移量
第二种方法
- 松开舵机主舵盘的4颗螺丝，让整条腿处于松动姿态
- 然后新建一个设置舵机回到中位的脚本
$ cd ~/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts
$ vim set_servo_mid.py
from mini_bdx_runtime.rustypot_position_hwi import HWI
from mini_bdx_runtime.duck_config import DuckConfig
import argparse
import time
import traceback
def zero_motor(hwi, joint_id, tol=0.02, timeout=5.0):
"""
Move motor to 0 rad and wait until reached.
"""
print(f"Zeroing motor ID {joint_id} to 0 rad")
try:
current_pos = hwi.io.read_present_position([joint_id])[0]
print(f"Current position: {current_pos:.3f} rad")
# Command zero position (rad)
hwi.io.write_goal_position([joint_id], [0.0])
start_time = time.time()
while True:
pos = hwi.io.read_present_position([joint_id])[0]
err = abs(pos)
print(f" pos={pos:.3f} rad, err={err:.3f}")
if err < tol:
print("✓ Zero position reached")
return True
if time.time() - start_time > timeout:
print("✗ Timeout while zeroing motor")
return False
time.sleep(0.05)
except Exception as e:
print(f"✗ Error zeroing motor ID {joint_id}: {e}")
print(traceback.format_exc())
return False
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--id",
type=int,
required=True,
help="Motor ID to zero (rad = 0)",
)
args = parser.parse_args()
print("Initializing hardware interface...")
try:
duck_config = DuckConfig()
hwi = HWI(duck_config=duck_config)
print("Successfully connected to hardware")
except Exception as e:
print(f"Error initializing HWI: {e}")
print(traceback.format_exc())
return
# Zero motor
zero_motor(hwi, args.id)
# Disable torque after zeroing (safety)
try:
hwi.io.disable_torque([args.id])
print(f"Torque disabled for motor ID {args.id}")
except Exception:
pass
if __name__ == "__main__":
main()
- 然后运行它，指顶需要配置的舵机回到中位
$ python set_servo_mid.py --id 12
Initializing hardware interface...
Successfully connected to hardware
Zeroing motor ID 22 to 0 rad
Current position: -3.086 rad
pos=-3.086 rad, err=3.086
pos=-3.086 rad, err=3.086
pos=-3.086 rad, err=3.086
...
✗ Timeout while zeroing motor
Torque disabled for motor ID 22
- 此时舵盘应该会转动起来，转完之后，再安装直立姿态固定好四颗螺丝就可以了
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