Windows

Both the leader arm and the follower arm must be connected at the same time

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

lerobot-calibrate --robot.type=so101_follower --robot.port=COM6 --robot.id=my_follower_arm

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

lerobot-calibrate --teleop.type=so101_leader --teleop.port=COM7 --teleop.id=my_leader_arm

File export location

C:\Users\40743\.cache\huggingface\lerobot\calibration\robots\so101_follower\my_follower_arm.json

C:\Users\40743\.cache\huggingface\lerobot\calibration\teleoperators\so101_leader\my_leader_arm.json

Calibrating a different robot arm

lerobot-calibrate --robot.type=so101_follower --robot.port=COM4 --robot.id=my_follower_arm

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; plug and unplug it again and turn the connector a little