AlohaMini入门教程-测试-配置机械臂和相机的端口

说明：

• 介绍如何配置机械臂和相机的端口

配置机械臂的端口步骤：

• 查看机械臂的端口

ls /dev/ttyACM*


/dev/ttyACM0  /dev/ttyACM1

• 添加权限

sudo chmod 777 /dev/ttyACM*

• 配置机械臂的端口，左臂/dev/left_arm，右臂/dev/right_arm

vim ~/lerobot_alohamini/src/lerobot/robots/alohamini/config_lekiwi.py 

left_port: str = "/dev/left_arm" # port to connect to the bus 
right_port: str = "/dev/right_arm" # port to connect to the bus 

配置相机的端口步骤：

• 查看相机的端口，相机端口为/dev/video0，/dev/video2

ls /dev/video*


crw-rw-rw-+ 1 root video 81, 14  8月  6 02:00 /dev/video0
crw-rw----+ 1 root video 81, 15  8月  6 02:00 /dev/video1
crw-rw----+ 1 root video 81,  1  8月  6 02:00 /dev/video10
crw-rw----+ 1 root video 81,  5  8月  6 02:00 /dev/video11
crw-rw----+ 1 root video 81,  8  8月  6 02:00 /dev/video12
crw-rw----+ 1 root video 81,  0  8月  6 02:00 /dev/video13
crw-rw----+ 1 root video 81,  2  8月  6 02:00 /dev/video14
crw-rw----+ 1 root video 81,  3  8月  6 02:00 /dev/video15
crw-rw----+ 1 root video 81,  4  8月  6 02:00 /dev/video16
crw-rw----+ 1 root video 81, 11  8月  6 02:00 /dev/video18
crw-rw----+ 1 root video 81, 13  8月  6 02:00 /dev/video19
crw-rw-rw-+ 1 root video 81, 16  8月  6 02:00 /dev/video2
crw-rw----+ 1 root video 81,  6  8月  6 02:00 /dev/video20
crw-rw----+ 1 root video 81,  7  8月  6 02:00 /dev/video21
crw-rw----+ 1 root video 81,  9  8月  6 02:00 /dev/video22
crw-rw----+ 1 root video 81, 10  8月  6 02:00 /dev/video23
crw-rw----+ 1 root video 81, 17  8月  6 02:00 /dev/video3
crw-rw----+ 1 root video 81, 12  8月  6 02:00 /dev/video31

• 查看可以使用相机的端口，相机端口为/dev/video0，/dev/video2

conda activate lerobot_alohamini
lerobot-find-cameras opencv


--- Detected Cameras ---
Camera #0:
  Name: OpenCV Camera @ /dev/video0
  Type: OpenCV
  Id: /dev/video0
  Backend api: V4L2
  Default stream profile:
    Format: 0.0
    Fourcc: YUYV
    Width: 640
    Height: 480
    Fps: 30.0
--------------------
Camera #1:
  Name: OpenCV Camera @ /dev/video2
  Type: OpenCV
  Id: /dev/video2
  Backend api: V4L2
  Default stream profile:
    Format: 0.0
    Fourcc: YUYV
    Width: 640
    Height: 480
    Fps: 30.0
--------------------

• 修改相机端口，head_top，head_front：（pc端和树莓派端要保持一致）

vim ~/lerobot_alohamini/src/lerobot/robots/alohamini/config_lekiwi.py


def lekiwi_cameras_config() -> dict[str, CameraConfig]:
    return {
         "head_top": OpenCVCameraConfig(
             index_or_path="/dev/front_top_camera", fps=15, width=320, height=240, rotation=Cv2Rotation.NO_ROTATION
         ),
        # "head_back": OpenCVCameraConfig(
        #     index_or_path="/dev/video2", fps=15, width=320, height=240, rotation=Cv2Rotation.NO_ROTATION
        # ),
         "head_front": OpenCVCameraConfig(
         index_or_path="/dev/front_bottom_camera", fps=15, width=320, height=240, rotation=Cv2Rotation.NO_ROTATION
         ),
        # "wrist_left": OpenCVCameraConfig(
        #     index_or_path="/dev/am_camera_wrist_left", fps=30, width=640, height=480, rotation=Cv2Rotation.NO_ROTATION
        # ),
        # "wrist_right": OpenCVCameraConfig(
        #     index_or_path="/dev/am_camera_wrist_right", fps=30, width=640, height=480, rotation=Cv2Rotation.NO_ROTATION
        # ),
    }

• 校准文件的位置：

/home/ubuntu/.cache/huggingface/lerobot/calibration

• 如果校准出错，可以删掉校准文件，重新校准