一.确定哪个接口分别对应主臂还是从臂命令行终端lerobot-find-polerobot-find-portFinding all available ports for the MotorsBus.Ports before disconnecting: [‘/dev/ttyACM1’, ‘/dev/ttyACM0’, ‘/dev/ttyprintk’, ‘/dev/ttyS31’, ‘/dev/ttyS30’, ‘/dev/ttyS29’, ‘/dev/ttyS28’, ‘/dev/ttyS27’, ‘/dev/ttyS26’, ‘/dev/ttyS25’, ‘/dev/ttyS24’, ‘/dev/ttyS23’, ‘/dev/ttyS22’, ‘/dev/ttyS21’, ‘/dev/ttyS20’, ‘/dev/ttyS19’, ‘/dev/ttyS18’, ‘/dev/ttyS17’, ‘/dev/ttyS16’, ‘/dev/ttyS15’, ‘/dev/ttyS14’, ‘/dev/ttyS13’, ‘/dev/ttyS12’, ‘/dev/ttyS11’, ‘/dev/ttyS10’, ‘/dev/ttyS9’, ‘/dev/ttyS8’, ‘/dev/ttyS7’, ‘/dev/ttyS6’, ‘/dev/ttyS5’, ‘/dev/ttyS4’, ‘/dev/ttyS3’, ‘/dev/ttyS2’, ‘/dev/ttyS1’, ‘/dev/ttyS0’, ‘/dev/tty63’, ‘/dev/tty62’, ‘/dev/tty61’, ‘/dev/tty60’, ‘/dev/tty59’, ‘/dev/tty58’, ‘/dev/tty57’, ‘/dev/tty56’, ‘/dev/tty55’, ‘/dev/tty54’, ‘/dev/tty53’, ‘/dev/tty52’, ‘/dev/tty51’, ‘/dev/tty50’, ‘/dev/tty49’, ‘/dev/tty48’, ‘/dev/tty47’, ‘/dev/tty46’, ‘/dev/tty45’, ‘/dev/tty44’, ‘/dev/tty43’, ‘/dev/tty42’, ‘/dev/tty41’, ‘/dev/tty40’, ‘/dev/tty39’, ‘/dev/tty38’, ‘/dev/tty37’, ‘/dev/tty36’, ‘/dev/tty35’, ‘/dev/tty34’, ‘/dev/tty33’, ‘/dev/tty32’, ‘/dev/tty31’, ‘/dev/tty30’, ‘/dev/tty29’, ‘/dev/tty28’, ‘/dev/tty27’, ‘/dev/tty26’, ‘/dev/tty25’, ‘/dev/tty24’, ‘/dev/tty23’, ‘/dev/tty22’, ‘/dev/tty21’, ‘/dev/tty20’, ‘/dev/tty19’, ‘/dev/tty18’, ‘/dev/tty17’, ‘/dev/tty16’, ‘/dev/tty15’, ‘/dev/tty14’, ‘/dev/tty13’, ‘/dev/tty12’, ‘/dev/tty11’, ‘/dev/tty10’, ‘/dev/tty9’, ‘/dev/tty8’, ‘/dev/tty7’, ‘/dev/tty6’, ‘/dev/tty5’, ‘/dev/tty4’, ‘/dev/tty3’, ‘/dev/tty2’, ‘/dev/tty1’, ‘/dev/tty0’, ‘/dev/tty’]Remove the USB cable from your MotorsBus and press Enter when done.根据提示拔掉其中一个机械臂的USB线按Enter键端口会显示拔掉的机械臂端口号二.针对 SO-101 机械臂的主从臂端口固化udev 规则以及舵机重新编号ID 设置以下是完整的操作流程和具体命令以上用到的命令1.udevadm info -a -n /dev/ttyACM0 | grep -E “ATTRS{idVendor}|ATTRS{idProduct}|ATTRS{serial}”2.udevadm info -a -n /dev/ttyACM1 | grep -E “ATTRS{idVendor}|ATTRS{idProduct}|ATTRS{serial}”3.sudo nano /etc/udev/rules.d/99-so101-arms.rules4.# SO-101 Leader Arm (主臂)SUBSYSTEM“tty”, ATTRS{idVendor}“1a86”, ATTRS{idProduct}“55d3”, ATTRS{serial}“LEADER_SERIAL_HERE”, SYMLINK“so101_leader”, MODE“0666”, GROUP“dialout”SO-101 Follower Arm (从臂)SUBSYSTEM“tty”, ATTRS{idVendor}“1a86”, ATTRS{idProduct}“55d3”, ATTRS{serial}“FOLLOWER_SERIAL_HERE”, SYMLINK“so101_follower”, MODE“0666”, GROUP“dialout”5.sudo udevadm control --reload-rulessudo udevadm trigger6.ls -l /dev/so101_*7.lerobot-setup-motors–teleop.typeso101_leader–teleop.port/dev/so101_leader–teleop.use_degreesTrue8.lerobot-setup-motors–robot.typeso101_follower–robot.port/dev/so101_follower–robot.use_degreesTrue9.lerobot-calibrate–teleop.typeso101_leader–teleop.port/dev/so101_leader–teleop.use_degreesTrue10.lerobot-calibrate–robot.typeso101_follower–robot.port/dev/so101_follower–robot.use_degreesTrue11.lerobot-teleoperate–robot.typeso101_follower–robot.port/dev/so101_follower–teleop.typeso101_leader–teleop.port/dev/so101_leader–display_datatrue补充两个工具RoboController 或 Feetech 调试助手用到命令1.# 1. 克隆项目代码git clone https://github.com/Yang-Ci/Lrobo-RoboController-.git2. 进入项目目录cd Seeed_RoboController3. 安装依赖pip install -r requirements.txt4. 检查环境应显示 [OK]python setup.py2.# 启动 RoboController会自动打开浏览器python -m src.web.factory_calibration_web3.# 不自动打开浏览器python -m src.web.factory_calibration_web --no-browser换端口如果8765被占用python -m src.web.factory_calibration_web --port 8766演示模式不连接硬件也能预览界面python -m src.web.factory_calibration_web --demo