标定文件格式与互转
如果你手上有已经标定好的xlerobot 或者 lekiwi,又想要单独使用so-arm101，可以直接进行格式转换。由于底盘是不需要标定的，转换好格式放到对应文件夹下就可以了。没有改HF_HOME参数，标定文件默认在cache下。
so-arm101格式如下
JSON
{
"shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1628,
"range_min": 732,
"range_max": 3245
},
"shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": 1970,
"range_min": 767,
"range_max": 3150
},
"elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1718,
"range_min": 713,
"range_max": 2954
},
"wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -1469,
"range_min": 947,
"range_max": 3315
},
"wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": -1060,
"range_min": 80,
"range_max": 3982
},
"gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 996,
"range_min": 2027,
"range_max": 3525
}
}
Lekiwi 为 so-arm101 6个舵机+3个底盘舵机
YAML
{
"shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1628,
"range_min": 732,
"range_max": 3245
},
"shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": 1970,
"range_min": 767,
"range_max": 3150
},
"elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1718,
"range_min": 713,
"range_max": 2954
},
"wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -1469,
"range_min": 947,
"range_max": 3315
},
"wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": -1060,
"range_min": 80,
"range_max": 3982
},
"gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 996,
"range_min": 2027,
"range_max": 3525
} "base_left_wheel": {
"id": 7,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"base_back_wheel": {
"id": 8,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"base_right_wheel": {
"id": 9,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
}xlerobot为左臂6舵机+顶部摄像头2舵机+右臂6舵机+底盘3舵机
YAML
{
"left_arm_shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1628,
"range_min": 732,
"range_max": 3245
},
"left_arm_shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": 1970,
"range_min": 767,
"range_max": 3150
},
"left_arm_elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1718,
"range_min": 713,
"range_max": 2954
},
"left_arm_wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -1469,
"range_min": 947,
"range_max": 3315
},
"left_arm_wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": -1060,
"range_min": 80,
"range_max": 3982
},
"left_arm_gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 996,
"range_min": 2027,
"range_max": 3525
},
"head_motor_1": {
"id": 7,
"drive_mode": 0,
"homing_offset": 1772,
"range_min": 714,
"range_max": 3348
},
"head_motor_2": {
"id": 8,
"drive_mode": 0,
"homing_offset": -1552,
"range_min": 558,
"range_max": 2689
},
"right_arm_shoulder_pan": {
"id": 1,
"drive_mode": 0,
"homing_offset": -1754,
"range_min": 857,
"range_max": 3463
},
"right_arm_shoulder_lift": {
"id": 2,
"drive_mode": 0,
"homing_offset": -1306,
"range_min": 731,
"range_max": 3128
},
"right_arm_elbow_flex": {
"id": 3,
"drive_mode": 0,
"homing_offset": 1801,
"range_min": 907,
"range_max": 3131
},
"right_arm_wrist_flex": {
"id": 4,
"drive_mode": 0,
"homing_offset": -1538,
"range_min": 735,
"range_max": 3108
},
"right_arm_wrist_roll": {
"id": 5,
"drive_mode": 0,
"homing_offset": -959,
"range_min": 216,
"range_max": 3794
},
"right_arm_gripper": {
"id": 6,
"drive_mode": 0,
"homing_offset": 1227,
"range_min": 1977,
"range_max": 3494
},
"base_left_wheel": {
"id": 7,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"base_back_wheel": {
"id": 8,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
},
"base_right_wheel": {
"id": 9,
"drive_mode": 0,
"homing_offset": 0,
"range_min": 0,
"range_max": 4095
}
}