基于实际硬件更新软件配置

索旭东

发布于 2026-01-20 14:51:40

1210

1. 获取连接端口

1.1 主机械臂

# 1. 主机械臂通过TypeC-USB线连接电脑主机
# 2. 进入主机源码目录
cd lerobot
# 3.  查找主机械臂总线伺服适配器的端口
python lerobot/scripts/find_motors_bus_port.py
# 4. 得到串口号(COM5)

1.2 从机械臂（含底盘）

# 1. 底盘和机械臂总线伺服板通过TypeC-USB线连接树莓派
# 2. 进入树莓派源码目录
cd lerobot
# 3.  查找主机械臂总线伺服适配器的端口
python lerobot/scripts/find_motors_bus_port.py
# 4. 得到串口号(/dev/ttyACM2)

1.3 摄像头（底部、顶部）

# 1. 底部和顶部相机依次连接树莓派USB口
# 2. 进入树莓派源码目录
cd lerobot
# 3.  查找主机械臂总线伺服适配器的端口
python lerobot/scripts/find_motors_bus_port.py
# 4. 分别得到串口号(dev/video2(/dev/ttyACM1)、dev/video0(/dev/ttyACM1))

底部相机（使用video：dev/video2）

顶部相机（dev/video0）

1.4 树莓派

# 查看IP地址（ssh登录IP一致）
ifconfig

2. 无线链接配置更新

基于前面获取的实际端口值，在 Config（lerobot/common/robot_devices/robots/config.py）文件中修改网络配置、leader_arms 端口和 follower_arms端口、相机连接口，同步修改PC和树莓派两端的配置文件，如下：

@RobotConfig.register_subclass(“lekiwi”)
ip: str = “192.168.18.200”
cameras.default_factory.front.camera_index=“/dev/video2”
cameras.default_factory.wrist.camera_index=“/dev/video0”
leader_arms.default_factory.main.port=“COM5”
follower_arms.default_factory.main.port=“/dev/ttyACM2”

3. 有线直连方案更新配置

如果底盘没用树莓派，而是直接连接了电脑，对于底盘和主机械臂都通过USB连接PC主机的情况，配置的 IP 地址应引用自己的笔记本电脑（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="/dev/ttyACM1", fps=30, width=640, height=480, rotation=90
            ),
            "wrist": OpenCVCameraConfig(
                camera_index="/dev/ttyACM0", 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="COM5",
                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/ttyACM2",
                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

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原始发表：2026-01-06，如有侵权请联系 cloudcommunity@tencent.com 删除

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