ToddlerBot2.0快速上手操作教程

1.MP3播放模块测试

MP3播放

设置里面--->

conda activate toddlerbot

play ~/Downloads/003.wav

每次开机后需要检查此配置是否选好:

机器人设备播放清晰音频，则证明MP3播放模块正常

或者

conda activate toddlerbot

cd ~/projects/toddlerbot/

python examples/test_speaker2.py

2.相机测试

conda activate toddlerbot

cd ~/projects/toddlerbot/

python examples/test_camera.py

输入操作指令

弹出实时摄像头画面窗口

画面无卡顿/色偏/黑屏现象

3.IMU测试

conda activate toddlerbot

cd ~/projects/toddlerbot/

python examples/test_imu.py --plot

输入操作指令

显示实时波形，波形随设备移动产生对应变化

仿真

站立

conda activate toddlerbot

cd ~/projects/toddlerbot/

python toddlerbot/policies/run_policy.py --policy stand --robot toddlerbot_2xc --sim mujoco --vis view --plot

俯卧撑

conda activate toddlerbot

cd ~/projects/toddlerbot/

python toddlerbot/policies/run_policy.py --policy replay --path motion/push_up_2xc.lz4 --vis view

保持

conda activate toddlerbot

cd ~/projects/toddlerbot/

python toddlerbot/policies/run_policy.py --policy replay --path motion/hold_2xc.lz4 --vis view

下蹲

conda activate toddlerbot

cd ~/projects/toddlerbot

python toddlerbot/policies/run_policy.py --policy replay --path motion/kneel_2xc.lz4 --vis view

拥抱

conda activate toddlerbot

cd ~/projects/toddlerbot

python toddlerbot/policies/run_policy.py --policy replay --path motion/cuddle_2xc.lz4 --vis view

匍匐前进

conda activate toddlerbot

cd ~/projects/toddlerbot

python toddlerbot/policies/run_policy.py --policy replay --path motion/crawl_2xc.lz4 --vis view

零位校准

对于2XC

conda activate toddlerbot

cd ~/projects/toddlerbot/

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts left_arm

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts right_arm

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts left_ankle

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts right_ankle

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts  hip

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts  knee

python toddlerbot/tools/calibrate_zero.py --robot toddlerbot_2xc  --parts  neck

4.Dynamixel舵机测试

conda activate toddlerbot

cd ~/projects/toddlerbot/

python examples/test_dynamixel.py

输入操作指令

所有舵机使能

无[Warning] [Dynamixel] > bulk_read: [TxRxResult] Incorrect (No) status packet!警告

则舵机正常

5.站立测试

conda activate toddlerbot

cd ~/projects/toddlerbot/

python toddlerbot/policies/run_policy.py --policy stand --robot toddlerbot_2xc --sim real

机器人平稳进入站立姿态

动作测试

conda activate toddlerbot

cd ~/projects/toddlerbot/

python toddlerbot/policies/run_policy.py --policy replay --path motion/hold_2xc.lz4 --robot toddlerbot_2xc --sim real

python toddlerbot/policies/run_policy.py --policy replay --path motion/kneel_2xc.lz4 --robot toddlerbot_2xc --sim real