LeRobot-Kinematics: Simple and Accurate Forward and Inverse Kinematics Examples for the Lerobot SO100 ARM

Declaration

This repository is a fork of the following projects Robotics Toolbox for Python.

A. Installation (Ubuntu 20.04)

We recommend python=3.10 for consistency with lerobot.

  git clone https://github.com/box2ai-robotics/lerobot-kinematics.git
  cd lerobot-kinematics
  pip install -e .

B. Examples in simulation

We recommended to click on the terminal window with the mouse after startup and then enter the keys, to avoid that the keys in the departure mujoco change the configuration of the scene.

pip install mujoco==3.2.5

(1) qpos control

Example of joint angle control, when opened the Mucojo visualization will appear and you can use the keyboard to control the corresponding angle change of the robot arm.

python examples/lerobot_keycon_qpos.py

• 1, 2, 3, 4, 5, 6 Increase the angle.

• q, w, e, r, t, y Decrease Angle.

Press and hold '0' to return to position

(2) gpos Control

Example of Gripper Posture (gpos) control, where you can use the keyboard to control the end-posture changes of Lerobot in mucojo.

python examples/lerobot_keycon_gpos.py

Key	Action +	Key	Action -
w	Move Forward	s	Move Backward
a	Move Right	d	Move Left
r	Move Up	f	Move Down
e	Roll +	q	Roll -
t	Pitch +	g	Pitch -
z	Gripper Open	c	Gripper Close

Press and hold '0' to return to position

(3) Joycon Control

This is an example of using joycon to control Lerobot in mucojo, if you want to use it, please install joycon-robotics repository first!

python examples/lerobot_joycon_gpos.py

If this repository was helpful to you, please give us a little star and have a great time! ⭐ ⭐ ⭐ ⭐ ⭐

C. Examples in Real

(1) Keyboard Control in Real

Example of gripper posture (gpos) control, where you can use the keyboard to control the Lerobot's end posture changes in mucojo while going from simulation to physical control of a real Lerobot arm.

python examples/lerobot_keycon_gpos_real.py

If you're interested in this, you can try using the keyboard to collect data.

(2) Joycon Control in Real

python examples/lerobot_joycon_gpos_real.py

C. More Information

More information and discussion join the QQ group: 948755626