chore: updated config and calibration files

.cache/calibration/so100/main_follower.json

@@ -0,0 +1 @@
+{"homing_offset": [-2090, 3086, -952, -2089, 2063, -2472], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [2077, 3156, 908, 2047, 2047, 2048], "end_pos": [3114, -2062, 1976, 3113, -1039, 3496], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

.cache/calibration/so100/main_leader.json

@@ -0,0 +1 @@
+{"homing_offset": [-2038, 2985, -1088, -2115, 2060, -1962], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [2052, 3087, 960, 2047, 2011, 2047], "end_pos": [3062, -1961, 2112, 3139, -1036, 2986], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

lerobot/common/robot_devices/robots/configs.py

@@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",
+                port="/dev/ttyACM0",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
+                port="/dev/ttyACM1",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -476,14 +476,14 @@ class So100RobotConfig(ManipulatorRobotConfig):
 
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {
-            "laptop": OpenCVCameraConfig(
-                camera_index=0,
+            "top": OpenCVCameraConfig(
+                camera_index=2,
                 fps=30,
                 width=640,
                 height=480,
             ),
-            "phone": OpenCVCameraConfig(
-                camera_index=1,
+            "wrist": OpenCVCameraConfig(
+                camera_index=0,
                 fps=30,
                 width=640,
                 height=480,

lerobot/common/robot_devices/robots/feetech_calibration.py

@@ -36,6 +36,11 @@ ZERO_POSITION_DEGREE = 0
 ROTATED_POSITION_DEGREE = 90
 
 
+def reset_middle_positions(arm: MotorsBus):
+    input("Please move the robot to the new middle position for calibration, then press Enter...")
+    # Write 128 to Torque_Enable for all motors.
+    arm.write("Torque_Enable", 128)
+
 def assert_drive_mode(drive_mode):
     # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted.
     if not np.all(np.isin(drive_mode, [0, 1])):
@@ -439,6 +444,8 @@ def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, a
 
     print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
 
+    reset_middle_positions(arm)
+
     print("\nMove arm to zero position")
     print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero"))
     input("Press Enter to continue...")