（八）lerobot开源项目扩展so100的仿真操控（操作记录）

一、项目地址

git clone https://gitee.com/mrqiguan/lerobot_so100_sim.git

二、环境配置

conda create -n lerobot_so100_sim --clone lerobot  # 在lerobot环境里安装下面的包即可
conda activate lerobot_so100_sim

pip install rl_zoo3
pip install git+https://github.com/perezjln/gym-lowcostrobot.git

 三、仿真操控

conda activate lerobot_so100_sim
sudo chmod 777 /dev/ttyACM0

 1、在mujoco里控制so100模型

python 1_so100_feetech_mujoco_control_sim.py

 2、利用实机控制mujoco的so100模型

python 2_so100_feetech_mujoco_control_realTosim.py

注意：根据实机，修改2_so100_feetech_mujoco_control_realTosim.py，改变机械臂当前运动状态，观察符号(转向)和偏移值（置0），修改参数直到和初始位置符合
initial post [0 -3.14 3.14 0.817 0 -0.157]
Adjust the plus-minus sign and the offsets 
target_pos[i] = ± target_pos[i] + 0

target_pos[0] = -target_pos[0] - 0.838   # =0
target_pos[1] =  target_pos[1] - 1.81     # =-3.14
target_pos[2] =  target_pos[2] + 1.1      # =3.14
target_pos[3] =  target_pos[3] - 1.413   # =0.817
target_pos[4] =  target_pos[4] - 2.23     # =0
target_pos[5] =  target_pos[5] - 0.626   # =-0.157

四、参考链接

jpata/gym-so100 at integrationhttps://github.com/jpata/gym-so100/tree/integrationmichel-aractingi/Sim-LeRobotHackathon: This simulation environment that will be used for the LeRobot Hackathon 2024.https://github.com/michel-aractingi/Sim-LeRobotHackathon?tab=readme-ov-file