1. 获取连接端口
# 查找每个总线伺服适配器的端口
python lerobot/scripts/find_motors_bus_port.py
# 如果没有权限，运行以下命令来授予对 USB 端口的访问权限
# sudo chmod 666 /dev/ttyACM0
# sudo chmod 666 /dev/ttyACM1底盘控制板和机械臂控制板的端口，可能输出如下：
Finding all available ports for the MotorBus.
['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751']
Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
[...Disconnect leader arm and press Enter...]
The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751
Reconnect the usb cable.2. 无线链接配置更新
现在您已经拥有了 mobile-so100 的主端口和机械臂端口以及树莓派 IP 地址，请在网络配置、leader_arms 端口和 lekiwi 端口中更新 IP。在 Config（lerobot/common/robot_devices/robots/config.py） 文件中修改主从臂的端口号。您会在其中找到类似以下内容：
@RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiRobotConfig(RobotConfig):
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: int | None = None
# Network Configuration
ip: str = "172.17.133.91"
port: int = 5555
video_port: int = 5556
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"mobile": OpenCVCameraConfig(camera_index="/dev/video0", fps=30, width=640, height=480),
"mobile2": OpenCVCameraConfig(camera_index="/dev/video2", fps=30, width=640, height=480),
}
)
calibration_dir: str = ".cache/calibration/lekiwi"
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0077581",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
},
),
}
)
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/ttyACM0",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
"left_wheel": (7, "sts3215"),
"back_wheel": (8, "sts3215"),
"right_wheel": (9, "sts3215"),
},
),
}
)
teleop_keys: dict[str, str] = field(
default_factory=lambda: {
# Movement
"forward": "w",
"backward": "s",
"left": "a",
"right": "d",
"rotate_left": "z",
"rotate_right": "x",
# Speed control
"speed_up": "r",
"speed_down": "f",
# quit teleop
"quit": "q",
}
)
mock: bool = False3. 有线直连方案更新配置
对于有线 LeKiwi 版本，您配置的 IP 地址应引用您自己的笔记本电脑 （127.0.0.1），因为在这种情况下，leader arm 和 LeKiwi 连接到自己的笔记本电脑。以下是此有线设置的示例配置：
@RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiRobotConfig(RobotConfig):
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: int | None = None
# Network Configuration
ip: str = "127.0.0.1"
port: int = 5555
video_port: int = 5556
cameras: dict[str, CameraConfig] = field(
default_factory=lambda: {
"front": OpenCVCameraConfig(
camera_index=0, fps=30, width=640, height=480, rotation=90
),
"wrist": OpenCVCameraConfig(
camera_index=1, fps=30, width=640, height=480, rotation=180
),
}
)
calibration_dir: str = ".cache/calibration/lekiwi"
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0077581",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
},
),
}
)
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431061",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
"left_wheel": (7, "sts3215"),
"back_wheel": (8, "sts3215"),
"right_wheel": (9, "sts3215"),
},
),
}
)
teleop_keys: dict[str, str] = field(
default_factory=lambda: {
# Movement
"forward": "w",
"backward": "s",
"left": "a",
"right": "d",
"rotate_left": "z",
"rotate_right": "x",
# Speed control
"speed_up": "r",
"speed_down": "f",
# quit teleop
"quit": "q",
}
)
mock: bool = False
连接电机并查看端口号
vscode中查看修改端口号