研究 telegrip - SO100 Robot Arm Teleoperation System

0. 前言

最初是在关注XLerobot工作时，发现他们有通过VR遥操实体机器人的代码，他们声称修改了telegrip相关代码，所以我现在来研究一下telegrip，看看有什么异同，哪些模块是必要的，在迁移到自研机械臂上需要什么。

1. 前置准备

1.1 项目特征

功能统一架构：单一入口点协调所有组件

多种输入方式：支持 VR 控制器（Quest/WebXR）和键盘控制

共享 IK/FK 逻辑：基于 PyBullet 的双臂逆向和正向运动学

实时可视化：使用坐标系和标记进行 3D PyBullet 可视化

安全功能：关节限制约束、优雅关闭和错误处理

异步/非阻塞：所有组件同时运行且互不阻塞

1.2 前提条件

机器人硬件：一台或两台带有 USB-串口连接的 SO100 机械臂

Python 环境：Python 3.8 及以上版本，并安装所需的包

VR 设置（可选）：Meta Quest 或其他支持 WebXR 的头显（无需安装应用）

1.3 安装

首先需要安装lerobot，我之前安装过，不想破坏原有环境，所以复制一份代码，然后复制一个环境

在复制的 lerobot 目录中：

bash 复制代码

git clone https://github.com/DipFlip/telegrip.git
conda create --name telegrip --clone lerobot0.3.3
conda activate telegrip
cd telegrip
pip install -e .
# 手动生成cert.pem and key.pem
openssl req -x509 -newkey rsa:2048 -keyout key.pem -out cert.pem -sha256 -days 365 -nodes -subj "/C=US/ST=Test/L=Test/O=Test/OU=Test/CN=localhost"

1.4 启动telegrip

先不连接真实机器人，选择：

bash 复制代码

telegrip --no-robot

一切正常。

尝试 telegrip：

bash 复制代码

❌ Left arm connection failed: 
Could not connect on port '/dev/ttySO100red'. Make sure you are using the correct port.
Try running `python -m lerobot.find_port`

❌ Right arm connection failed: 
Could not connect on port '/dev/ttySO100blue'. Make sure you are using the correct port.
Try running `python -m lerobot.find_port`

修改config.ymal：

bash 复制代码

robot:
  left_arm:
    enabled: true
    name: Left Arm
    port: /dev/ttyACM0
  right_arm:
    enabled: true
    name: Right Arm
    port: /dev/ttyACM1

然后第一次启动时，发现pybullet也不启动了，然后运行telegrip --log-level info，发现是校准问题

bash 复制代码

(telegrip) strawberry@strawberry-E500-G9-WS760T:~/zzy/project/lerobot/telegrip$ telegrip --log-level info 
pybullet build time: Jan 29 2025 23:16:28
2025-10-20 17:05:32,945 - telegrip.main - INFO - Starting with configuration:
2025-10-20 17:05:32,945 - telegrip.main - INFO -   Robot: enabled
2025-10-20 17:05:32,945 - telegrip.main - INFO -   PyBullet: enabled
2025-10-20 17:05:32,945 - telegrip.main - INFO -   Headless mode: disabled
2025-10-20 17:05:32,945 - telegrip.main - INFO -   VR: enabled
2025-10-20 17:05:32,945 - telegrip.main - INFO -   Keyboard: enabled
2025-10-20 17:05:32,945 - telegrip.main - INFO -   Auto-connect: disabled
2025-10-20 17:05:32,945 - telegrip.main - INFO -   HTTPS Port: 8443
2025-10-20 17:05:32,945 - telegrip.main - INFO -   WebSocket Port: 8442
2025-10-20 17:05:32,945 - telegrip.main - INFO -   Robot Ports: {'left': '/dev/ttyACM0', 'right': '/dev/ttyACM1'}
2025-10-20 17:05:32,947 - telegrip.main - INFO - HTTPS server started on 0.0.0.0:8443
2025-10-20 17:05:32,948 - telegrip.inputs.vr_ws_server - INFO - SSL certificate and key loaded successfully for WebSocket server
2025-10-20 17:05:32,953 - websockets.server - INFO - server listening on 0.0.0.0:8442
2025-10-20 17:05:32,953 - telegrip.inputs.vr_ws_server - INFO - VR WebSocket server running on wss://0.0.0.0:8442
2025-10-20 17:05:32,953 - telegrip.inputs.keyboard_listener - INFO - Keyboard listener started
2025-10-20 17:05:32,953 - telegrip.inputs.keyboard_listener - INFO - 
============================================================
2025-10-20 17:05:32,953 - telegrip.inputs.keyboard_listener - INFO - DUAL-ARM KEYBOARD TELEOPERATION CONTROLS
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO - ============================================================
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO - LEFT ARM (WASD + QE):
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO -   W/S: Move Forward/Backward
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO -   A/D: Move Left/Right
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO -   Q/E: Move Down/Up
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO -   Z/X: Wrist Roll
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO -   R/T: Wrist Flex (Pitch)
2025-10-20 17:05:32,954 - telegrip.inputs.keyboard_listener - INFO -   F: Toggle Left Gripper Open/Closed
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   Tab: Manual Toggle Left Arm Position Control On/Off
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - 
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - RIGHT ARM (UIOJKL):
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   I/K: Move Forward/Backward
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   J/L: Move Left/Right
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   U/O: Move Up/Down
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   N/M: Wrist Roll
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   H/Y: Wrist Flex (Pitch)
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   ; (semicolon): Toggle Right Gripper Open/Closed
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   Enter: Manual Toggle Right Arm Position Control On/Off
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - 
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - Global:
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -   ESC: Exit
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - 
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - Note: Position control is automatically activated when you press
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO -       movement keys. Idle for 1 second to reset target position.
2025-10-20 17:05:32,955 - telegrip.inputs.keyboard_listener - INFO - ============================================================
2025-10-20 17:05:32,956 - telegrip.inputs.keyboard_listener - INFO - Left arm position control: INACTIVE
2025-10-20 17:05:32,956 - telegrip.inputs.keyboard_listener - INFO - Right arm position control: INACTIVE
2025-10-20 17:05:32,956 - telegrip.main - INFO - All system components started successfully
2025-10-20 17:05:32,956 - telegrip.inputs.keyboard_listener - INFO - Dual-arm keyboard control loop started
2025-10-20 17:05:32,956 - telegrip.core.robot_interface - INFO - Setting up robot configs with ports: {'left': '/dev/ttyACM0', 'right': '/dev/ttyACM1'}
2025-10-20 17:05:32,956 - telegrip.core.robot_interface - INFO - Connecting to robot...
2025-10-20 17:05:32,971 - lerobot.robots.so100_follower.so100_follower - INFO - Mismatch between calibration values in the motor and the calibration file or no calibration file found
2025-10-20 17:05:32,971 - lerobot.robots.so100_follower.so100_follower - INFO - 
Running calibration of left_follower SO100Follower
Move left_follower SO100Follower to the middle of its range of motion and press ENTER....

完成校准后，仿真启动成功，通过键盘控制小球，末端执行器就会靠近抓取，求出关节的逆解

但是真实的机械臂并没有动作，只是锁电机了。需要在打开的web端点击 connect robot ，这时就可以使用键盘控制 real 机械臂了。

VR也是同理的，那么我现在来用VR试一下