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 "{}"

摄像头标定

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

huggingface token

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

下载数据集

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

hf upload shenchenayng/lerobot_openarm_test . --repo-type=dataset

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

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

推理

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