From b907c18023a7a65d0a2e9a583131cd3240d41f7e Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Tue, 31 Mar 2026 15:32:53 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9readme=E6=A0=BC=E5=BC=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 README.md | 116 +++++++++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 92 insertions(+), 24 deletions(-)

diff --git a/README.md b/README.md
index ad10b32..aea4bae 100644
--- a/README.md
+++ b/README.md
@@ -1,112 +1,176 @@
 # 设置代理
+``` shell
 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
+``` shell
 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
+``` shell
 ip link set can1 type can bitrate 1000000
+```
 
 # 启动can
+``` shell
 ip link set can0 up
+```
 
 # 设置slcan
+``` shell
 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
+``` shell
 ip -details -statistics link show can1
-###################
+```
 
 # 绑定接口名
+``` shell
 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    
+``` shell
+rosdepc install --from-paths src --ignore-src --rosdistro=humble -y
+```    
 
 # 启动单臂
+``` shell
 ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=false can_interface:=can6
+```
 
 # 设置单臂运动
+``` shell
 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}}]}}'
+``` shell
+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
+``` shell
 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
+``` shell
 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
+``` shell
 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
+``` shell
 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
+## 启动节点
+``` shell
 ros2 launch openarm_joint_recorder joint_trajectory_recorder.launch.py
+```
 
-# 开始录制
+## 开始录制
+``` shell
 ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: true}"
+```
 
-# 停止录制
+## 停止录制
+``` shell
 ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: false}"
+```
 
-# 回放
+## 回放
+``` shell
 ros2 service call /joint_trajectory_recorder/play std_srvs/srv/Trigger "{}"
+```
 
-# 保存轨迹
+## 保存轨迹
+``` shell
 ros2 service call /joint_trajectory_recorder/save std_srvs/srv/Trigger "{}"
+```
 
-# 加载轨迹
+## 加载轨迹
+``` shell
 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
+# 摄像头标定
+``` shell
+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
+```
 
 # huggingface token
 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
 
+# 下载数据集
+``` shell
+export HF_ENDPOINT=https://hf-mirror.com
+
+hf download --repo-type dataset --token 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 pixparse/cc3m-wds --local-dir /home/D/ --resume-download
+```
+# 上传数据集
+``` shell
+hf upload shenchenayng/lerobot_openarm_test . --repo-type=dataset
+```
+
 # 设置can
+``` shell
 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
+``` shell
 lerobot-find-cameras opencv
+```
 
 # 启动单臂
+``` shell
 lerobot-teleoperate \
     --robot.type=openarm_follower \
     --robot.port=can0 \
@@ -117,8 +181,10 @@ lerobot-teleoperate \
     --teleop.port=can2 \
     --teleop.id=my_leader --teleop.use_can_fd=false \
     --display_data=true
+```
     
 # 录制单臂 
+``` shell
 lerobot-record \
     --robot.type=openarm_follower \
     --robot.port=can2 \
@@ -135,14 +201,13 @@ lerobot-record \
     --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
+``` shell
 lerobot-train \
   --dataset.repo_id=shenchenayng/lerobot_openarm_test \
   --dataset.root=/home/shen/.cache/huggingface/lerobot/shenchenayng/lerobot_openarm_test \
@@ -160,8 +225,10 @@ lerobot-train \
   --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
+```
 
-
+# 推理
+``` shell
 lerobot-record  \
   --robot.type=openarm_follower \
   --robot.port=can0 \
@@ -175,3 +242,4 @@ lerobot-record  \
   --dataset.episode_time_s=1000 \
   --dataset.push_to_hub=false \
   --policy.path=/home/shen/lerobot_openarm_modle/202603260100_model/202603260100/pretrained_model
+  ```