智能台灯LeLampX快速入门教程-动作录制和回放(终端)

文章说明

• 本教程主要介绍如何进行录制和回放运动
• LeLamp2提供兼容LeLamp1的动作录制和回放方式，推荐使用web方式

相关设备

• LeLamp2套件: 采购地址

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

$ cd ~/lelampv2
$ uv run python -m lelamp.record --id lelamp --port /dev/lelamp --name rotation1
已加载标定: /home/lelamp/.lelamp/calibration/lelamp.json
Press Enter to start recording...
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~/lelampv2/lelamp/recordings下

$ ls ~/lelampv2/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

$ cd ~/lelampv2
$ uv run python -m lelamp.replay --id lelamp --port /dev/lelamp --name rotation1
Replaying 552 actions from /home/lelamp/lelampv2/lelamp/recordings/rotation1.csv
Finished replaying recording
Disconnected

• 查看所有已录制的轨迹

$ cd ~/lelampv2
$ uv run -m lelamp.list_recordings --id lelamp
用户录制: /home/lelamp/.lelamp/recordings

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

演示视频

演示视频一

<iframe height=498 width=100% src="//player.bilibili.com/player.html?isOutside=true&aid=116617421784102&bvid=BV1xSGt6dEUA&cid=38525865206&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>

演示视频二

<iframe height=498 width=100% src="//player.bilibili.com/player.html?isOutside=true&aid=116617421916843&bvid=BV1KSGt6oEez&cid=38525931349&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>