Step 3: Arm Calibration (Ubuntu)
Grant permissions to the port
Grant all users read/write permission for these serial devices
Shell
sudo chmod 666 /dev/ttyACM*Calibrate the follower arm (Follower)
Shell
lerobot-calibrate \
--robot.type=so101_follower \
--robot.port=/dev/ttyACM0 \
--robot.id=my_follower_arm
Calibrate the leader arm (Leader)
Shell
lerobot-calibrate \
--teleop.type=so101_leader \
--teleop.port=/dev/ttyACM1 \
--teleop.id=my_leader_arm
View the calibration configuration file
Shell
sudo nano /home/<username>/.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
② Servos cannot be found
The servo power is not plugged in