LeLamp Control and Operation

Complete guide to calibrating, controlling, and operating your LeLamp robot with movement recording and playback

LeLamp Control and Operation

⏱️ Estimated time: 30 minutes
🔧 Required tools: Computer with SSH access to LeLamp
📦 Required: Fully assembled and configured LeLamp with working software

This guide covers the complete operation of your LeLamp, from initial calibration to advanced movement programming and system control.

Overview

LeLamp control involves several key operations:

• Calibration: Setting up servo ranges and zero positions
• Movement Recording: Capturing expressive gestures and behaviors
• Movement Playback: Replaying recorded movements with precision
• Real-time Control: Direct manipulation and interaction
• System Monitoring: Performance tracking and maintenance

Complete all hardware assembly and software setup before attempting calibration and control operations.

For complete control documentation and advanced features, refer to the LeLamp Runtime GitHub Repository.

Initial Setup and Connection

1. Connect to Your LeLamp

   SSH into your LeLamp and navigate to the runtime directory:

   ssh your_username@your_hostname.local
   cd lelamp_runtime
   

   Verify you’re in the correct directory by checking for LeLamp Python modules: ls lelamp/

2. Verify System Status

   Check that all systems are operational before calibration:

   # Test servo communication
   uv run lerobot-find-port
   
   # Quick system health check
   sudo uv run -m lelamp.test.test_all_systems --id your_lamp_name --port /dev/ttyACM0
   

   Replace your_lamp_name with the identifier you set during servo setup, and adjust the port as needed.

Calibration Process

Calibration is essential for accurate movement and prevents damage to servos and mechanical components.

1. Understand Calibration Requirements

   LeLamp calibration involves two phases:

   Follower Calibration

   Purpose: Teaches LeLamp to follow external movements

   • Records servo positions during manual manipulation
   • Establishes range limits and safe operating zones
   • Maps physical positions to servo commands

   Leader Calibration

   Purpose: Enables LeLamp to initiate and control movements

   • Defines movement patterns and sequences
   • Sets up autonomous behavior parameters
   • Calibrates sensor feedback systems
2. Prepare LeLamp for Calibration

   Position LeLamp in its zero/home position before starting calibration:

   Zero Position Reference

   The zero position can be viewed in the 3D model.

   Key characteristics:

   • Base yaw centered (facing forward)
   • Base pitch vertical (upright posture)
   • Elbow pitch at mid-range
   • Wrist roll centered
   • Wrist pitch horizontal (head level)

   Safety Considerations

   • Ensure adequate clearance around LeLamp
   • Remove any obstacles from movement path
   • Have emergency power disconnect readily available
   • Work in well-lit area for clear visibility

   
3. Run Calibration Script

   Execute the calibration process:

   sudo uv run -m lelamp.calibrate --id your_lamp_name --port /dev/ttyACM0
   

   The script will guide you through:

   1. Initial position setup - Place LeLamp in zero position
   2. Range mapping - Move each joint through full range
   3. Limit detection - Identify safe operating boundaries
   4. Verification - Test calibrated movements

   Critical Calibration Warning: Do NOT fully rotate the base yaw or head yaw servos during calibration. These servos should only rotate about ±90° from center to prevent cable damage and mechanical binding.

4. Follow Interactive Calibration

   The calibration script provides step-by-step instructions:

   Position Setup

   1. Place LeLamp in zero position as prompted
   2. Verify all joints are centered and aligned
   3. Confirm no mechanical binding or interference
   4. Press Enter to continue when positioned correctly

   Range Mapping

   For each servo (except yaw servos):

   1. Manually move joint through full range of motion
   2. Move slowly and smoothly to avoid jerky motions
   3. Stop at mechanical limits - don’t force movement
   4. Return to center position when prompted

   For yaw servos (base and head):

   1. Rotate only ±90° from center position
   2. Do NOT attempt full rotation
   3. Listen for unusual sounds indicating binding
   4. Stop immediately if resistance is felt

   Verification

   1. Observe automated test movements
   2. Verify smooth operation through calibrated range
   3. Check for any binding or jerky motion
   4. Confirm position accuracy matches commands

Movement Recording and Playback

1. Record Custom Movements

   Capture expressive movements for later playback:

   sudo uv run -m lelamp.record --id your_lamp_name --port /dev/ttyACM0 --name movement_name
   

   Example recording session:

   sudo uv run -m lelamp.record --id lelamp --port /dev/ttyACM0 --name greeting_wave
   

   Recording Best Practices

   Movement Guidelines:

   • Start and end in neutral/stable positions
   • Move slowly and deliberately for smooth playback
   • Avoid rapid or jerky movements
   • Consider the emotional expression you want to convey

   Technical Considerations:

   • Recording captures position data at regular intervals
   • Smoother movements result in better playback quality
   • Complex movements may require multiple shorter recordings

   Recording Process

   1. Position LeLamp in starting pose
   2. Start recording with the command above
   3. Manually guide LeLamp through desired movement
   4. Create expressive gestures as needed
   5. End in stable position
   6. Stop recording with Ctrl+C
   7. Save recording when prompted
2. Replay Recorded Movements

   Play back previously recorded movements:

   sudo uv run -m lelamp.replay --id your_lamp_name --port /dev/ttyACM0 --name movement_name
   

   Example playback:

   sudo uv run -m lelamp.replay --id lelamp --port /dev/ttyACM0 --name greeting_wave
   

   Playback Options

   Basic playback: Plays movement once at recorded speed

   Advanced options (check runtime documentation):

   • Speed adjustment (faster/slower playback)
   • Loop playback (repeat continuously)
   • Blend between movements
   • Interrupt and resume capabilities

   Playback Monitoring

   During playback, monitor for:

   • Smooth, accurate movement reproduction
   • No binding or mechanical stress
   • Proper timing and coordination
   • Expected emotional expression
3. Manage Movement Library

   List and organize your recorded movements:

   sudo uv run -m lelamp.list_recordings --id your_lamp_name
   

   This command displays:

   • All available recorded movements
   • Recording duration and file size
   • Creation date and metadata
   • Playback compatibility information

   Create a library of movements for different emotions and interactions: greetings, acknowledgments, expressions of curiosity, sleep/wake cycles, etc.

Advanced Control Features

Real-Time Control

Direct Servo Control

Control individual servos in real-time:

# Control specific servo position
sudo uv run -m lelamp.control.servo --id your_lamp_name --servo 1 --position 512

# Control multiple servos simultaneously
sudo uv run -m lelamp.control.multi_servo --id your_lamp_name --positions "512,400,600,300,450"

Position values typically range from 0-1023 (depending on servo model and configuration).

Coordinated Movement

Execute complex coordinated movements:

# Smooth interpolated movement
sudo uv run -m lelamp.control.smooth_move --id your_lamp_name --target_positions "512,512,512,512,512" --duration 2.0

# Bezier curve movement
sudo uv run -m lelamp.control.curve_move --id your_lamp_name --waypoints waypoints.json

Sensor Integration

Use sensor data to drive movements:

# Camera-based tracking
sudo uv run -m lelamp.control.camera_track --id your_lamp_name

# Audio-reactive movement
sudo uv run -m lelamp.control.audio_reactive --id your_lamp_name --sensitivity 0.5

LED and Audio Control

1. LED Matrix Programming

   Control LED expressions and effects:

   # Static color display
   sudo uv run -m lelamp.led.solid_color --color "255,100,50"
   
   # Animated effects
   sudo uv run -m lelamp.led.rainbow_cycle --speed 0.1
   
   # Emotion-based expressions
   sudo uv run -m lelamp.led.emotion --type happy --intensity 0.8
   
2. Audio Integration

   Coordinate audio with movement:

   # Play sound with movement
   sudo uv run -m lelamp.audio.play_with_movement --sound greeting.wav --movement greeting_wave
   
   # Voice synthesis
   sudo uv run -m lelamp.audio.speak --text "Hello, I am LeLamp" --voice_type friendly
   

System Testing and Validation

1. Comprehensive System Test

   Perform complete system integration testing:

   # Full system functionality test
   sudo uv run -m lelamp.test.test_motors --id your_lamp_name --port /dev/ttyACM0
   
   # LED matrix test
   sudo uv run -m lelamp.test.test_rgb
   
   # Audio system test
   uv run -m lelamp.test.test_audio
   

   Expected results:

   • All servos respond correctly to commands
   • LED matrix displays various colors and patterns
   • Audio input/output functions properly
   • No error messages or system warnings
2. Performance Validation

   Monitor system performance during operation:

   # Check system resources
   htop
   
   # Monitor servo performance
   sudo uv run -m lelamp.monitor.servo_performance --id your_lamp_name --duration 60
   
   # Check system temperature
   vcgencmd measure_temp
   

   Healthy operation indicators:

   • CPU usage < 60% during complex movements
   • System temperature < 70°C
   • Servo response time < 50ms
   • No communication timeouts or errors

Operational Best Practices

Daily Operation

Startup Sequence

Recommended startup procedure:

1. Power on servo driver first
2. Power on Raspberry Pi
3. Wait for system boot (2-3 minutes)
4. Verify SSH connectivity
5. Run system health check
6. Begin normal operations

Shutdown Sequence

Proper shutdown procedure:

1. Stop all active movements and recordings
2. Return LeLamp to neutral position
3. Shut down Raspberry Pi: sudo shutdown -h now
4. Wait for Pi to fully power down (LED stops blinking)
5. Disconnect servo driver power
6. Disconnect Pi power supply

Maintenance Schedule

Regular maintenance tasks:

• Daily: Visual inspection, basic function test
• Weekly: Clean dust from components, check connections
• Monthly: Update software, backup recordings, performance review
• Quarterly: Deep cleaning, mechanical inspection, calibration verification

Safety Guidelines

Always follow these safety guidelines during operation

• Never force mechanical movement - stop immediately if resistance is felt
• Monitor system temperature during extended operation
• Keep emergency power disconnect easily accessible
• Avoid rapid or violent movements that could damage components
• Maintain clear workspace around LeLamp’s movement range
• Regular backup of important recordings and configurations

Success Criteria and Validation

After completing LeLamp control setup, verify the following capabilities:

Basic Operation

• Successful calibration of all 5 servo motors
• Smooth movement through full range of motion
• Accurate position control and feedback
• No mechanical binding or unusual noises
• Stable communication with servo driver

Movement Capabilities

• Record custom movements successfully
• Play back movements with accuracy
• Create and manage movement library
• Coordinate multiple servos smoothly
• Express emotions through movement

System Integration

• LED matrix responds to commands
• Audio input/output functions correctly
• Camera integration (if applicable)
• Network connectivity stable
• System performance within acceptable ranges

Advanced Features

• Real-time servo control
• Sensor-driven movements
• Audio-visual coordination
• Automated behavior sequences
• Remote control capabilities

Congratulations! 🎉

You have successfully built and configured your LeLamp! Your expressive robot lamp is now capable of:

Expressive Movement

5 degrees of freedom enable natural, lifelike gestures and emotional expressions

Visual Interaction

Camera integration allows environmental awareness and user interaction

Audio Communication

Bidirectional audio enables voice interaction and sound-reactive behaviors

Programmable Expressions

LED matrix provides visual feedback and emotional expression capabilities

Next Steps and Community

1. Explore Advanced Features

   • Runtime Documentation: Explore advanced features in the LeLamp Runtime repository
   • Custom Programming: Develop your own behaviors and interactions
   • Integration Projects: Connect LeLamp to smart home systems or AI assistants
2. Join the Community

   • Share Your Build: Post photos and videos on Discord
   • Contribute: Help improve documentation or share custom movements
   • Support Others: Answer questions and help new builders
3. Report and Improve

   • Bug Reports: Use GitHub Issues for problems
   • Feature Requests: Suggest improvements and new capabilities
   • Documentation: Help improve these guides based on your experience

LeLamp Control Complete! Your robot is ready for creative expression and interaction.

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Document your favorite movements and share them with the community. Creative expressions make LeLamp even more engaging and fun!