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[Fix] Move back to manual calibration (#488)

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Remi
2024-10-26 15:27:21 +02:00
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examples/10_use_so100.md
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@@ -123,22 +123,22 @@ Follow step 4 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5
Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another.
**Auto-calibration of follower arm**
Follow step 5 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto-calibration of the follower arm. You first need to manually move your follower arm to this initial position:
**Manual calibration of follower arm**
/!\ Contrarily to step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto calibration, we will actually do manual calibration of follower for now.
<div style="text-align:center;">
<img src="../media/so100/follower_initial.webp?raw=true" alt="SO-100 follower arm initial position" title="SO-100 follower arm initial position" width="50%">
</div>
You will need to move the follower arm to these positions sequentially:
Then run this script to launch auto-calibration:
| 1. Zero position | 2. Rotated position | 3. Rest position |
|---|---|---|
| <img src="../media/so100/follower_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/so100/follower_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/so100/follower_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
Make sure both arms are connected and run this script to launch manual calibration:
```bash
python lerobot/scripts/control_robot.py calibrate \
--robot-path lerobot/configs/robot/so100.yaml \
--robot-path lerobot/configs/robot/moss.yaml \
--robot-overrides '~cameras' --arms main_follower
```
Note: You can't run auto-calibration for the leader arm, since we removed the gears. Thus, you will need to manually calibrate the leader arm. It's less precise than auto-calibration, but precision is not as critical for the leader arm.
**Manual calibration of leader arm**
Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially: