OpenDuckMini快速入门教程-设置关节偏移

文章说明

• 本教程主要介绍如何进行设置关节偏移的操作
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相关设备

• OpenDuckMini套件: 采购地址

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

操作步骤

• 调整关节偏移的目的为能使鸭子能稳定站立

• 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