Ubuntu

Grant permissions to the port

Grant all users read/write permission for these serial devices

sudo chmod 666 /dev/ttyACM*

Calibrate the follower arm (Follower) (newly added "wrist_yaw" joint)

lerobot-calibrate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=my_follower_arm

Calibrate the leader arm (Leader) (newly added "wrist_yaw" joint)

lerobot-calibrate \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM1 \
    --teleop.id=my_leader_arm

View the calibration configuration file

sudo nano /home/tommy/.cache/huggingface/lerobot/calibration/robots/so101_follower/my_follower_arm.json

Notes

① Once one arm reaches its limit, it stops moving

Recalibration is required

wx_camera_1768098182808.mp4

② Servos cannot be found

The servo power is not plugged in