From a18d218e53331bcc2e3a399c5e3f45261e98c6db Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Tue, 31 Mar 2026 15:18:19 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0readme?=
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+# 设置代理
+export PROXY="http://192.168.31.39:7890"
+export http_proxy="$PROXY"
+export https_proxy="$PROXY"
+export ftp_proxy="$PROXY"
+export socks_proxy="$PROXY"
+
+PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+
+# 设置虚拟can接口
+sudo ip link add dev can1 type vcan
+sudo ip link set up can1
+sudo ip link set can1 type vcan bitrate 1000000
+
+# 设置can波特率
+ip link set can1 type can bitrate 1000000
+
+# 启动can
+ip link set can0 up
+
+# 设置slcan
+sudo slcand -o -c -s8 -S1000000 /dev/ttyACM0 can0
+sudo slcand -o -c -s8 -S1000000  /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 can1
+
+# 查看can信息
+ip -details -statistics link show can1
+###################
+
+# 绑定接口名
+sudo vim /etc/udev/rules.d/72-gs-usb-can.rules
+
+SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="004F004F3630501120353355", NAME="can6"
+SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="004C004F4D4D501020383834", NAME="can7"
+SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="0061005A3945501620303651", NAME="can4"
+SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="006500573945501620303651", NAME="can5"
+
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+#######################
+
+# 安装ros依赖
+rosdepc install --from-paths src --ignore-src --rosdistro=humble -y    
+
+# 启动单臂
+ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=false can_interface:=can6
+
+# 设置单臂运动
+ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory '{trajectory: {joint_names: ["openarm_joint1", "openarm_joint2", "openarm_joint3", "openarm_joint4", "openarm_joint5", "openarm_joint6", "openarm_joint7"], points: [{positions: [0.15, 0.15, 0.15, 0.15, 0.15, 0.15, 0.15], time_from_start: {sec: 1, nanosec: 0}}]}}'
+
+ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory '{trajectory: {joint_names: ["openarm_joint1", "openarm_joint2", "openarm_joint3", "openarm_joint4", "openarm_joint5", "openarm_joint6", "openarm_joint7"], points: [{positions: [0, 0, 0, 0, 0, 0, 0], time_from_start: {sec: 1, nanosec: 0}}]}}'
+
+# 设置右臂运动
+ros2 action send_goal /right_joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory '{trajectory: {joint_names: ["openarm_right_joint1", "openarm_right_joint2", "openarm_right_joint3", "openarm_right_joint4", "openarm_right_joint5", "openarm_right_joint6", "openarm_right_joint7"], points: [{positions: [0.15, 0.15, 0.15, 0.15, 0.15, 0.15, 0.15], time_from_start: {sec: 1, nanosec: 0}}]}}'
+
+ros2 action send_goal /right_joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory '{trajectory: {joint_names: ["openarm_right_joint1", "openarm_right_joint2", "openarm_right_joint3", "openarm_right_joint4", "openarm_right_joint5", "openarm_right_joint6", "openarm_right_joint7"], points: [{positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: {sec: 1, nanosec: 0}}]}}'
+
+# 启动双臂
+ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v10 use_fake_hardware:=false gravity_compensation_enabled:=false gravity_compensation_use_kdl:=false gravity_torque_mode:=false enable_joint_state_udp_broadcast:=true joint_state_udp_payload_format:=json
+
+# 启动双臂位置控制器
+ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v10 use_fake_hardware:=false gravity_compensation_enabled:=false gravity_compensation_use_kdl:=false gravity_torque_mode:=false robot_controller:=forward_position_controller enable_joint_state_udp_broadcast:=true joint_state_udp_payload_format:=json
+
+# 启动双臂重力补偿
+ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v10 use_fake_hardware:=false gravity_compensation_enabled:=true gravity_compensation_use_kdl:=true gravity_torque_mode:=true gripper_gravity_compensation_enabled:=true enable_joint_state_udp_broadcast:=true joint_state_udp_payload_format:=json
+
+# 启动moveit
+ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=false
+ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=false robot_controller:=forward_velocity_controller
+
+# 启动动作录制
+# 启动节点
+ros2 launch openarm_joint_recorder joint_trajectory_recorder.launch.py
+
+# 开始录制
+ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: true}"
+
+# 停止录制
+ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: false}"
+
+# 回放
+ros2 service call /joint_trajectory_recorder/play std_srvs/srv/Trigger "{}"
+
+# 保存轨迹
+ros2 service call /joint_trajectory_recorder/save std_srvs/srv/Trigger "{}"
+
+# 加载轨迹
+ros2 service call /joint_trajectory_recorder/load std_srvs/srv/Trigger "{}"
+
+# 标定
+ros2 run camera_calibration cameracalibrator --size 9x6 --square 0.255 \
+  left:=/camera/left/image_raw right:=/camera/right/image_raw \
+  left_camera:=camera_frame_left right_camera:=camera_frame_right
+
+# 下载数据集
+hf download --repo-type dataset --token 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 pixparse/cc3m-wds --local-dir /home/D/ --resume-download
+
+export HF_ENDPOINT=https://hf-mirror.com
+
+# huggingface token
+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
+
+# 设置can
+lerobot-setup-can --mode=setup --interfaces=can0,can2 --use_fd=false
+lerobot-setup-can --mode=test --interfaces=can0,can2 --use_fd=false
+
+# 测试相机
+lerobot-find-cameras opencv
+
+# 启动单臂
+lerobot-teleoperate \
+    --robot.type=openarm_follower \
+    --robot.port=can0 \
+    --robot.side=right \
+    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}}" \
+    --robot.id=my_follower --robot.use_can_fd=false \
+    --teleop.type=openarm_leader \
+    --teleop.port=can2 \
+    --teleop.id=my_leader --teleop.use_can_fd=false \
+    --display_data=true
+    
+# 录制单臂 
+lerobot-record \
+    --robot.type=openarm_follower \
+    --robot.port=can2 \
+    --robot.side=right \
+    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}}" \
+    --robot.id=my_follower --robot.use_can_fd=false \
+    --teleop.type=openarm_leader \
+    --teleop.port=can0 \
+    --teleop.id=my_leader --teleop.use_can_fd=false \
+    --display_data=true \
+    --dataset.repo_id=shenchenayng/lerobot_openarm_test \
+    --dataset.num_episodes=40 \
+    --dataset.single_task="Grab Oranges" \
+    --dataset.push_to_hub=false \
+    --dataset.episode_time_s=10 \
+    --dataset.reset_time_s=2
+    
+# 上传数据集
+hf upload shenchenayng/lerobot_openarm_test . --repo-type=dataset
+
+# wandb token
+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
+
+# 训练
+lerobot-train \
+  --dataset.repo_id=shenchenayng/lerobot_openarm_test \
+  --dataset.root=/home/shen/.cache/huggingface/lerobot/shenchenayng/lerobot_openarm_test \
+  --dataset.revision=v0.1.0 \
+  --dataset.streaming=false \
+  --policy.type=act \
+  --output_dir=~/lerobot_openarm_modle \
+  --job_name=lerobot_openarm_test \
+  --policy.device=cuda \
+  --wandb.enable=true \
+  --wandb.project=lerobot_openarm_test \
+  --policy.push_to_hub=false \
+  --steps=2000 \
+  --batch_size=8 \
+  --save_freq=100
+  
+lerobot-train --dataset.repo_id=shenchenayng/lerobot_openarm_test --dataset.root=/home/featurize/lerobot_openarm_test --dataset.revision=v0.1.0 --dataset.streaming=false --policy.type=act --output_dir=/home/featurize/lerobot_openarm_modle/a --job_name=lerobot_openarm_test --policy.device=cuda --wandb.enable=true --wandb.project=lerobot_openarm_test --policy.push_to_hub=false --steps=2000   --batch_size=8 --save_freq=100
+
+
+lerobot-record  \
+  --robot.type=openarm_follower \
+  --robot.port=can0 \
+  --robot.side=right \
+  --robot.use_can_fd=false \
+  --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}}" \
+  --robot.id=my_follower \
+  --display_data=false \
+  --dataset.repo_id=shenchenayng/eval_lerobot_openarm_test \
+  --dataset.single_task="Grab Oranges" \
+  --dataset.episode_time_s=1000 \
+  --dataset.push_to_hub=false \
+  --policy.path=/home/shen/lerobot_openarm_modle/202603260100_model/202603260100/pretrained_model