AlohaMini入门教程-测试-控制升降台 机械臂和底盘

说明：

• 介绍如何控制机械臂，底盘和升降台

步骤：

从臂部分：

• 添加权限

sudo chmod 777 /dev/ttyACM*

• 激活环境

conda activate lerobot_alohamini

• 执行控制语句

python -m lerobot.robots.alohamini.lekiwi_host

• 结果如下

Press ENTER to use provided calibration file associated with the id AlohaMiniRobot, or type 'c' and press ENTER to run calibration: 
[lift_axis.home] Present_Current=26.0 mA
[lift_axis.home] Present_Position=3848.0 ticks
[lift_axis.home] Stalled at current=26.0 mA, moved=False
[lift_axis.home] Present_Current=104.0 mA
[lift_axis.home] Present_Position=3873.0 ticks
[lift_axis.home] Present_Current=279.5 mA
[lift_axis.home] Present_Position=3917.0 ticks
[lift_axis.home] Stalled at current=279.5 mA, moved=True
[lift_axis.home] Present_Current=877.5 mA
[lift_axis.home] Present_Position=3953.0 ticks
[lift_axis.home] Stalled at current=877.5 mA, moved=True
Disable torque output (motor will be released)
Extended ticks after homing: -1.0
[home] set-zero z0_deg=0.09, height_now=0.00 mm
Lift axis homed to 0mm.
WARNING:root:No command available
Left Bus currents: {0,0,0,0,0,0,0,0,0,0}
Right Bus currents: {0,0,0,0,0,0}
WARNING:root:No command available
Left Bus currents: {0,0,0,0,0,0,0,0,0,0}
Right Bus currents: {0,0,0,0,0,0}
WARNING:root:No command available
Left Bus currents: {0,0,0,0,0,0,0,0,0,0}
Right Bus currents: {0,0,0,0,0,0}
WARNING:root:No command available
Left Bus currents: {0,0,0,0,0,0,0,0,0,0}
Right Bus currents: {0,0,0,0,0,0}

主臂部分：

• 执行控制语句，remote_ip为树莓派的ip地址

python examples/alohamini/teleoperate_bi.py --remote_ip 192.168.0.42 --leader_id so101_leader_bi

• 分别按 w 、a 、s 、z 、x 、r、f键进行控制机器人

  • 向前: w

  • 向后: s

  • 向左: a

  • 向右: d

  • 左转: z

  • 右转: x

  • 增加速度: r

  • 减低速度: f

• 分别按u、j、q键进行控制升降台Z轴

  • 升降台向上: u
  • 升降台向下: j
  • 退出: q

• 结果如下

Sent action → {'arm_left_shoulder_pan.pos': -3.8856304985337147, 'arm_left_shoulder_lift.pos': -100.0, 'arm_left_elbow_flex.pos': 98.73360470375397, 'arm_left_wrist_flex.pos': 54.58440445586976, 'arm_left_wrist_roll.pos': 5.054945054945065, 'arm_left_gripper.pos': 2.8146989835809224, 'arm_right_shoulder_pan.pos': -4.287284719677544, 'arm_right_shoulder_lift.pos': -99.74369927381461, 'arm_right_elbow_flex.pos': 95.73143619386394, 'arm_right_wrist_flex.pos': 57.82370307886967, 'arm_right_wrist_roll.pos': 4.224664224664238, 'arm_right_gripper.pos': 1.7490494296577948, 'x.vel': 0.0, 'y.vel': 0.0, 'theta.vel': 0.0, 'lift_axis.height_mm': 15.0732421875}

• 弹出rerun viewer相机界面