智能台灯LeLamp快速入门教程-录制和回放运动轨迹

文章说明

• 本教程主要介绍如何进行录制和回放运动

操作步骤

• 示例命令

# 录制
$ sudo uv run -m lelamp.record --id your_lamp_name --port your_port --name action_name
# 回放
$ sudo uv run -m lelamp.replay --id your_lamp_name --port your_port --name action_name
# 查看所有已录制的轨迹
$ sudo uv run -m lelamp.list_recordings --id your_lamp_name

• your_lamp_name为当前自己定义的设备名称， your_port为当前驱动板的端口，action_name为自定义的运动轨迹名称

• 启动录制程序后，手动操控设备，做出不同的动作， 程序会自动记录当前的运动轨迹

 $ sudo uv run -m lelamp.record --id lelamp1 --port /dev/ttyACM0 --name rotation1
calibration path: /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp1.json
calibration content: {'base_yaw': MotorCalibration(id=1, drive_mode=0, homing_offset=-1997, range_min=1008, range_max=2768), 'base_pitch': MotorCalibration(id=2, drive_mode=0, homing_offset=-1099, range_min=1189, range_max=2946), 'elbow_pitch': MotorCalibration(id=3, drive_mode=0, homing_offset=629, range_min=1550, range_max=2048), 'wrist_roll': MotorCalibration(id=4, drive_mode=0, homing_offset=-107, range_min=849, range_max=3103), 'wrist_pitch': MotorCalibration(id=5, drive_mode=0, homing_offset=1686, range_min=1131, range_max=3166)}
Press Enter to start recording...
{'base_yaw.pos': 19.318181818181813, 'base_pitch.pos': -41.4911781445646, 'elbow_pitch.pos': 100.0, 'wrist_roll.pos': 2.1295474711623825, 'wrist_pitch.pos': -2.7027027027026946}
{'base_yaw.pos': 19.318181818181813, 'base_pitch.pos': -41.4911781445646, 'elbow_pitch.pos': 100.0, 'wrist_roll.pos': 2.1295474711623825, 'wrist_pitch.pos': -2.7027027027026946}
{'base_yaw.pos': 19.090909090909093, 'base_pitch.pos': -41.4911781445646, 'elbow_pitch.pos': 100.0, 'wrist_roll.pos': 2.1295474711623825, 'wrist_pitch.pos': -2.7027027027026946}
{'base_yaw.pos': 18.97727272727272, 'base_pitch.pos': -41.4911781445646, 'elbow_pitch.pos': 100.0, 'wrist_roll.pos': 2.1295474711623825, 'wrist_pitch.pos': -2.7027027027026946}
^CShutting down teleop...

• 最终录制成功的运动轨迹会保存在目录~/lelamp_ws/lelamp_runtime/lelamp/recordings下

$ ls ~/lelamp_ws/lelamp_runtime/lelamp/recordings/rotation1.csv
/home/raspios/lelamp_ws/lelamp_runtime/lelamp/recordings/rotation1.csv

• 启动回放程序，进行运动轨迹的回放

注意：回放结束，程序会关闭扭矩控制，需要注意设备主臂突然掉落

$ sudo uv run -m lelamp.replay --id lelamp1 --port /dev/ttyACM0 --name rotation1
Replaying 154 actions from /home/raspios/lelamp_ws/lelamp_runtime/lelamp/recordings/rotation1.csv

• 查看所有已录制的轨迹

$ sudo uv run -m lelamp.list_recordings --id lelamp1
Recordings for lamp ID 'lelamp1':
 
curious
  File: curious.csv
  Rows: 177
 
excited
  File: excited.csv
  Rows: 144
 
happy_wiggle
  File: happy_wiggle.csv
  Rows: 149
 
headshake
  File: headshake.csv
  Rows: 144
 
idle
  File: idle.csv
  Rows: 1798
 
nod
  File: nod.csv
  Rows: 187
 
rotation
  File: rotation.csv
  Rows: 122
 
rotation1
  File: rotation1.csv
  Rows: 154
 
sad
  File: sad.csv
  Rows: 149
 
scanning
  File: scanning.csv
  Rows: 189
 
shock
  File: shock.csv
  Rows: 144
 
shy
  File: shy.csv
  Rows: 220
 
wake_up
  File: wake_up.csv
  Rows: 258

FAQ

问题一：运行录制程序时，报错“has no calibration registered.”

问题原因：sudo 的权限问题，实际上校准文件已成功生成，但是程序读取的路径是/root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp1.json
解决方法一：

 - 创建对应的文件夹，复制json进去
$ sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader
$ sudo cp \
  /home/raspios/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp1.json \
  /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/

解决方法二：

• 把串口权限给当前用户raspios，然后可以直接运行不带sudo的命令

$ sudo usermod -aG dialout raspios
$ logout