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README.md
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README.md
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# 设置代理
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export PROXY="http://192.168.31.39:7890"
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export http_proxy="$PROXY"
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export https_proxy="$PROXY"
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export ftp_proxy="$PROXY"
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export socks_proxy="$PROXY"
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PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
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# 设置虚拟can接口
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sudo ip link add dev can1 type vcan
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sudo ip link set up can1
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sudo ip link set can1 type vcan bitrate 1000000
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# 设置can波特率
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ip link set can1 type can bitrate 1000000
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# 启动can
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ip link set can0 up
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# 设置slcan
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sudo slcand -o -c -s8 -S1000000 /dev/ttyACM0 can0
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sudo slcand -o -c -s8 -S1000000 /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0 can1
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# 查看can信息
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ip -details -statistics link show can1
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###################
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# 绑定接口名
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sudo vim /etc/udev/rules.d/72-gs-usb-can.rules
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SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="004F004F3630501120353355", NAME="can6"
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SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="004C004F4D4D501020383834", NAME="can7"
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SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="0061005A3945501620303651", NAME="can4"
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SUBSYSTEM=="net", ACTION=="add", ATTRS{serial}=="006500573945501620303651", NAME="can5"
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sudo udevadm control --reload-rules
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sudo udevadm trigger
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#######################
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# 安装ros依赖
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rosdepc install --from-paths src --ignore-src --rosdistro=humble -y
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# 启动单臂
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ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=false can_interface:=can6
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# 设置单臂运动
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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}}]}}'
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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}}]}}'
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# 设置右臂运动
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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}}]}}'
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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}}]}}'
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# 启动双臂
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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
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# 启动双臂位置控制器
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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
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# 启动双臂重力补偿
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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
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# 启动moveit
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ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=false
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ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=false robot_controller:=forward_velocity_controller
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# 启动动作录制
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# 启动节点
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ros2 launch openarm_joint_recorder joint_trajectory_recorder.launch.py
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# 开始录制
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ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: true}"
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# 停止录制
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ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: false}"
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# 回放
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ros2 service call /joint_trajectory_recorder/play std_srvs/srv/Trigger "{}"
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# 保存轨迹
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ros2 service call /joint_trajectory_recorder/save std_srvs/srv/Trigger "{}"
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# 加载轨迹
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ros2 service call /joint_trajectory_recorder/load std_srvs/srv/Trigger "{}"
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# 标定
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ros2 run camera_calibration cameracalibrator --size 9x6 --square 0.255 \
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left:=/camera/left/image_raw right:=/camera/right/image_raw \
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left_camera:=camera_frame_left right_camera:=camera_frame_right
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# 下载数据集
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hf download --repo-type dataset --token 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 pixparse/cc3m-wds --local-dir /home/D/ --resume-download
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export HF_ENDPOINT=https://hf-mirror.com
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# huggingface token
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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
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# 设置can
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lerobot-setup-can --mode=setup --interfaces=can0,can2 --use_fd=false
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lerobot-setup-can --mode=test --interfaces=can0,can2 --use_fd=false
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# 测试相机
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lerobot-find-cameras opencv
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# 启动单臂
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lerobot-teleoperate \
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--robot.type=openarm_follower \
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--robot.port=can0 \
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--robot.side=right \
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--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}}" \
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--robot.id=my_follower --robot.use_can_fd=false \
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--teleop.type=openarm_leader \
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--teleop.port=can2 \
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--teleop.id=my_leader --teleop.use_can_fd=false \
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--display_data=true
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# 录制单臂
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lerobot-record \
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--robot.type=openarm_follower \
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--robot.port=can2 \
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--robot.side=right \
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--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}}" \
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--robot.id=my_follower --robot.use_can_fd=false \
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--teleop.type=openarm_leader \
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--teleop.port=can0 \
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--teleop.id=my_leader --teleop.use_can_fd=false \
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--display_data=true \
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--dataset.repo_id=shenchenayng/lerobot_openarm_test \
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--dataset.num_episodes=40 \
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--dataset.single_task="Grab Oranges" \
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--dataset.push_to_hub=false \
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--dataset.episode_time_s=10 \
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--dataset.reset_time_s=2
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# 上传数据集
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hf upload shenchenayng/lerobot_openarm_test . --repo-type=dataset
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# wandb token
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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
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# 训练
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lerobot-train \
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--dataset.repo_id=shenchenayng/lerobot_openarm_test \
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--dataset.root=/home/shen/.cache/huggingface/lerobot/shenchenayng/lerobot_openarm_test \
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--dataset.revision=v0.1.0 \
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--dataset.streaming=false \
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--policy.type=act \
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--output_dir=~/lerobot_openarm_modle \
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--job_name=lerobot_openarm_test \
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--policy.device=cuda \
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--wandb.enable=true \
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--wandb.project=lerobot_openarm_test \
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--policy.push_to_hub=false \
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--steps=2000 \
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--batch_size=8 \
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--save_freq=100
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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
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lerobot-record \
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--robot.type=openarm_follower \
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--robot.port=can0 \
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--robot.side=right \
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--robot.use_can_fd=false \
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--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}}" \
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--robot.id=my_follower \
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--display_data=false \
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--dataset.repo_id=shenchenayng/eval_lerobot_openarm_test \
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--dataset.single_task="Grab Oranges" \
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--dataset.episode_time_s=1000 \
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--dataset.push_to_hub=false \
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--policy.path=/home/shen/lerobot_openarm_modle/202603260100_model/202603260100/pretrained_model
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