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LeRobot-SO100双臂入门教程-校准机械臂

说明：

  • 介绍如何校准LeRobot-SO100双臂

  • 校准时，先校准其中一套主臂和从臂，然后保存校准文件，修改文件名：left_follower.json ， left_leader.json

  • 然后，再校准另一套主臂和从臂，保存标准文件，修改文件名：right_follower.json ， right_leader.json

  • 修改配置文件configs.py

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 right_follower.json right_leader.json
    rm left_follower.json left_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

校准左侧主从机械臂:

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，修改文件名为left_follower.json：
{"homing_offset": [-2153, -1056, 2141, -2075, 929, -1112], "drive_mode": [0, 0, 1, 0, 1, 0], "start_pos": [2135, 891, 2177, 2875, 925, 947], "end_pos": [3177, 2080, -1117, 3099, 95, 2136], "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，修改文件名为left_leader.json：
{"homing_offset": [-2072, -2115, 2218, -2187, 3008, -1531], "drive_mode": [0, 0, 1, 0, 1, 0], "start_pos": [2062, 1964, 2244, 2658, 3038, 1428], "end_pos": [3096, 3139, -1194, 3211, -1984, 2555], "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

请输入图片描述

请输入图片描述

校准右侧主从机械臂:

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，修改文件名为right_follower.json：
{"homing_offset": [-2161, -2097, 2174, -2111, 1169, -1230], "drive_mode": [0, 0, 1, 0, 1, 0], "start_pos": [2131, 1966, 2140, 2921, 1121, 940], "end_pos": [3185, 3121, -1150, 3135, -145, 2254], "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，修改文件名为right_leader.json：
{"homing_offset": [-1928, -2019, 2111, -2088, 1982, -1482], "drive_mode": [0, 0, 1, 0, 1, 0], "start_pos": [1953, 1881, 2105, 2630, 1944, 1336], "end_pos": [2952, 3043, -1087, 3112, -958, 2506], "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

请输入图片描述

请输入图片描述

  • 修改config.py配置文件
/home/ubuntu/lerobot/lerobot/common/robot_devices/robots/configs.py
@RobotConfig.register_subclass("so100")
@dataclass
class So100RobotConfig(ManipulatorRobotConfig):
    calibration_dir: str = ".cache/calibration/so100"
    # `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

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "left": FeetechMotorsBusConfig(
                port="/dev/ttyACM3",
                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"],
                    },
                ),
            "right": FeetechMotorsBusConfig(
                port="/dev/ttyACM2",
                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: {
            "left": FeetechMotorsBusConfig(
                port="/dev/ttyACM1",
                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"],
                },
            ),
            "right": 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"],
                },
            ),
        }
    )

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