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docs: add calibrate troubleshooting sub-section for shaft out of position problem 

Signed-off-by: ivelin <ivelin117@gmail.com>
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ivelin 2025-01-28 08:33:13 -06:00
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examples/10_use_so100.md
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@ -204,7 +204,6 @@ python lerobot/scripts/control_robot.py calibrate \
--robot-overrides '~cameras' --arms main_follower
```
#### b. Manual calibration of leader arm
Follow step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
@ -220,6 +219,19 @@ python lerobot/scripts/control_robot.py calibrate \
```
### c. Troubleshooting
Another known issue during calibration is related to the positioning of the motor shafts. The error message looks like this:
```
Calibration is done! Saving calibration file '.cache/calibration/moss/main_leader.json'
Activating torque on main follower arm.
Wrong motor position range detected for gripper. Expected to be in nominal range of [0, 100] % (a full linear translation), with a maximum range of [-10, 110] % to account for some imprecision during calibration, but present value is 143.7950897216797 %. This might be due to a cable connection issue creating an artificial jump in motor values. You need to recalibrate ...
```
When all joints are mounted and the robot arm is in resting position (as shown in the calibration photos) each motor shaft should be in approximately middle state ~2048 of its full [0,4096] range. You can use the `scan_motors.py` tool again as shown above to check Present Position for each motor. Motors that are too far off the mid-value in rested arm position need to be repositioned by unscrewing the attached 3D printed part and rotating it such that when screwed back on and returned to resting position, its Present Position reading is about mid-range.
## F. Teleoperate
**Simple teleop**