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Lerobot操作指南

Posted
By quantux
1 min read
Lerobot操作指南

Mac配置

  • 从臂端口：/dev/tty.usbmodem5B3E1203541
  • 主臂端口：/dev/tty.usbmodem5B3E1198221

ubuntu校准

.cache/huggingface/lerobot/calibration/robots/so101_follower/my_awesome_follower_arm.json

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{
  "shoulder_pan": {
    "id": 1,
    "drive_mode": 0,
    "homing_offset": -471,
    "range_min": 726,
    "range_max": 3295
  },
  "shoulder_lift": {
    "id": 2,
    "drive_mode": 0,
    "homing_offset": 999,
    "range_min": 856,
    "range_max": 3254
  },
  "elbow_flex": {
    "id": 3,
    "drive_mode": 0,
    "homing_offset": -1503,
    "range_min": 2019,
    "range_max": 4209
  },
  "wrist_flex": {
    "id": 4,
    "drive_mode": 0,
    "homing_offset": 614,
    "range_min": 753,
    "range_max": 3096
  },
  "wrist_roll": {
    "id": 5,
    "drive_mode": 0,
    "homing_offset": -792,
    "range_min": 130,
    "range_max": 3949
  },
  "gripper": {
    "id": 6,
    "drive_mode": 0,
    "homing_offset": 700,
    "range_min": 555,
    "range_max": 2017
  }
}

.cache/huggingface/lerobot/calibration/teleoperators/so101_leader/my_awesome_leader_arm.json

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{
	"shoulder_pan": {
		"id": 1,
		"drive_mode": 0,
		"homing_offset": -384,
		"range_min": 770,
		"range_max": 3334
	},
	"shoulder_lift": {
		"id": 2,
		"drive_mode": 0,
		"homing_offset": -436,
		"range_min": 812,
		"range_max": 3191
	},
	"elbow_flex": {
		"id": 3,
		"drive_mode": 0,
		"homing_offset": -1491,
		"range_min": 2036,
		"range_max": 4233
	},
	"wrist_flex": {
		"id": 4,
		"drive_mode": 0,
		"homing_offset": 650,
		"range_min": 845,
		"range_max": 3163
	},
	"wrist_roll": {
		"id": 5,
		"drive_mode": 0,
		"homing_offset": 357,
		"range_min": 90,
		"range_max": 3897
	},
	"gripper": {
		"id": 6,
		"drive_mode": 0,
		"homing_offset": -240,
		"range_min": 1150,
		"range_max": 2379
	}
}
AI
VLA
This post is licensed under CC BY 4.0 by the author.