AlohaMini入门教程-测试-校准机械臂
说明：
- 介绍如何校准机械臂
步骤：
- 从臂端，如果是首次执行此操作，系统会提示您校准机械臂。请将机械臂放置在图中所示位置，按 Enter 键，然后将每个关节向左旋转 90 度，再向右旋转 90 度，最后按 Enter 键
python -m lerobot.robots.alohamini.lekiwi_host
- 结果如下
Move LEFT arm to the middle of its range of motion, then press ENTER...
Move LEFT arm joints sequentially through full ROM. Press ENTER to stop...
-------------------------------------------
-------------------------------------------
NAME | MIN | POS | MAX 3480
arm_left_shoulder_pan | 751 | 2063 | 34805
arm_left_shoulder_lift | 867 | 868 | 3255
arm_left_elbow_flex | 889 | 3078 | 3080
arm_left_wrist_flex | 861 | 2861 | 2868
arm_left_wrist_roll | 126 | 2129 | 3946
arm_left_gripper | 2017 | 2051 | 3519
Move RIGHT arm to the middle of its range of motion, then press ENTER...
Move RIGHT arm joints sequentially through full ROM. Press ENTER to stop...
-------------------------------------------
-------------------------------------------
NAME | MIN | POS | MAX 3385
arm_right_shoulder_pan | 704 | 2035 | 33852
arm_right_shoulder_lift | 868 | 878 | 3272
arm_right_elbow_flex | 858 | 3063 | 3077
arm_right_wrist_flex | 832 | 2852 | 2877
arm_right_wrist_roll | 132 | 2032 | 3968
arm_right_gripper | 2024 | 2051 | 3518
Calibration saved to /home/ubuntu/.cache/huggingface/lerobot/calibration/robots/lekiwi/AlohaMiniRobot.json
- 校准文件的位置在/home/ubuntu/.cache/huggingface/lerobot/calibration/目录下。如果校准出错，可以删掉校准文件，重新校准
rm ~/.cache/huggingface/lerobot/calibration/robots/lekiwi/AlohaMiniRobot.json
- 生成的校准文件AlohaMiniRobot.json的内容
{
"arm_left_shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": 2011,
"range_min": 691,
"range_max": 3378
},
"arm_left_shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": -797,
"range_min": 887,
"range_max": 3286
},
"arm_left_elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1193,
"range_min": 789,
"range_max": 3002
},
"arm_left_wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -1900,
"range_min": 864,
"range_max": 3208
},
"arm_left_wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": -1898,
"range_min": 89,
"range_max": 3918
},
"arm_left_gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 877,
"range_min": 2014,
"range_max": 3518
},
"base_left_wheel": {
"id": 8,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"base_back_wheel": {
"id": 9,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"base_right_wheel": {
"id": 10,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"lift_axis": {
"id": 11,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"arm_right_shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1877,
"range_min": 720,
"range_max": 3407
},
"arm_right_shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": -996,
"range_min": 880,
"range_max": 3290
},
"arm_right_elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1250,
"range_min": 815,
"range_max": 3031
},
"arm_right_wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": 1317,
"range_min": 907,
"range_max": 3289
},
"arm_right_wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": -1797,
"range_min": 72,
"range_max": 3901
},
"arm_right_gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 1001,
"range_min": 2034,
"range_max": 2881
}
}
- 主臂端，如果是首次执行此操作，系统会提示您校准机械臂。请将机械臂放置在图中所示位置，按 Enter 键，然后将每个关节向左旋转 90 度，再向右旋转 90 度，最后按 Enter 键
python examples/alohamini/teleoperate_bi.py --remote_ip 192.168.0.42 --leader_id so101_leader_bi
- 结果如下
Move so101_leader_bi_left SO100Leader to the middle of its range of motion and press ENTER....
Move all joints except 'wrist_roll' sequentially through their entire ranges of motion.
Recording positions. Press ENTER to stop...
-------------------------------------------
-------------------------------------------
NAME | MIN | POS | MAX
shoulder_pan | 675 | 2005 | 3446
shoulder_lift | 880 | 892 | 3200
elbow_flex | 816 | 3033 | 3044
wrist_flex | 970 | 2638 | 3235
gripper | 2023 | 2093 | 3391
Calibration saved to /home/ubuntu/.cache/huggingface/lerobot/calibration/teleoperators/so100_leader/so101_leader_bi_left.json
Move so101_leader_bi_right SO100Leader to the middle of its range of motion and press ENTER....
Move all joints except 'wrist_roll' sequentially through their entire ranges of motion.
Recording positions. Press ENTER to stop...
-------------------------------------------
-------------------------------------------
NAME | MIN | POS | MAX
shoulder_pan | 711 | 2016 | 3469
shoulder_lift | 944 | 952 | 3357
elbow_flex | 760 | 3022 | 3031
wrist_flex | 886 | 2678 | 3283
gripper | 1992 | 2037 | 3340
Calibration saved to /home/ubuntu/.cache/huggingface/lerobot/calibration/teleoperators/so100_leader/so101_leader_bi_right.json
- 校准文件的位置在/home/ubuntu/.cache/huggingface/lerobot/calibration/teleoperators/so100_leader/目录下。如果校准出错，可以删掉校准文件，重新校准
rm ~/.cache/huggingface/lerobot/calibration/teleoperators/so100_leader/so101_leader_bi_*
- 生成校准文件so101_leader_bi_left.json的内容
{
"shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1956,
"range_min": 675,
"range_max": 3446
},
"shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": -1035,
"range_min": 880,
"range_max": 3200
},
"elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1151,
"range_min": 816,
"range_max": 3044
},
"wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -2041,
"range_min": 970,
"range_max": 3235
},
"wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": 1912,
"range_min": 0,
"range_max": 4095
},
"gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 1510,
"range_min": 2023,
"range_max": 3391
}
}
- 生成校准文件so101_leader_bi_right.json的内容
{
"shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1982,
"range_min": 711,
"range_max": 3469
},
"shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": -1060,
"range_min": 944,
"range_max": 3357
},
"elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1266,
"range_min": 760,
"range_max": 3031
},
"wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -1958,
"range_min": 886,
"range_max": 3283
},
"wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": 1959,
"range_min": 0,
"range_max": 4095
},
"gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 1482,
"range_min": 1992,
"range_max": 3340
}
}
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