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.gitignore vendored
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@ -171,3 +171,6 @@ dmypy.json
# Cython debug symbols
cython_debug/
# lerobot calibration cache
.cache

58
examples/10_use_so100.md
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@ -443,10 +443,54 @@ For the leader configuration, perform **Steps 1–23**. Make sure that you remov
*Assembly complete – proceed to calibration.*
### c. Troubleshooting
Sometimes during assembly, the cables connecting the motors or the power adapter cable may be accidentally disconnected. To be sure that the motors are properly connected and functioning after assembly, use the scan_motors tool to test each arm.
The output should look similar to the example below. If the list of motor IDs is shorter than 6, there is probably a poorly connected cable or a motor is misconfigured. For example if only motor IDs [1,3] show up, that indicates that the serial cable between motor 3 and 4 is disconnected.
```bash
lerobot$ python lerobot/scripts/scan_motors.py --port /dev/ttyACM0 --brand feetech --model sts3215
Connected on port /dev/ttyACM0
Scanning all baudrates and motor indices
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 43.11it/s]
6 motor ID(s) detected for baud rate 1000000. Motor IDs: [1, 2, 3, 4, 5, 6].
Present Position 1997
Offset 0
Present Position 2098
Offset 0
Present Position 1124
Offset 0
Present Position 253
Offset 0
Present Position 3769
Offset 0
Present Position 926
Offset 0
Setting bus baud rate to 128000. Previously 1000000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.42it/s]
Setting bus baud rate to 500000. Previously 128000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.50it/s]
Setting bus baud rate to 115200. Previously 500000.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.40it/s]
Setting bus baud rate to 57600. Previously 115200.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.08it/s]
Setting bus baud rate to 38400. Previously 57600.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 13.88it/s]
Setting bus baud rate to 19200. Previously 38400.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 13.24it/s]
Setting bus baud rate to 250000. Previously 19200.
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:00<00:00, 14.47it/s]
Scan finished.
Disconnected from motor bus.
```
## E. Calibrate
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.
#### a. Manual calibration of follower arm
> [!IMPORTANT]
@ -483,6 +527,20 @@ python lerobot/scripts/control_robot.py \
--control.arms='["main_leader"]'
```
### 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**

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lerobot/scripts/scan_motors.py Normal file
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"""
This script is helpful to diagnose issues with motors during calibration or later operation.
It scans all motors on a given port and displays their settings.
Example of usage:
```bash
python lerobot/scripts/scan_motors.py \
--port /dev/tty.usbmodem585A0080521 \
--brand feetech \
--model sts3215 \
```
"""
import argparse
import time
def scan_motors(port, brand, model):
if brand == "feetech":
from lerobot.common.robot_devices.motors.feetech import MODEL_BAUDRATE_TABLE
from lerobot.common.robot_devices.motors.feetech import (
SCS_SERIES_BAUDRATE_TABLE as SERIES_BAUDRATE_TABLE,
)
from lerobot.common.robot_devices.motors.feetech import FeetechMotorsBus as MotorsBusClass
elif brand == "dynamixel":
from lerobot.common.robot_devices.motors.dynamixel import MODEL_BAUDRATE_TABLE
from lerobot.common.robot_devices.motors.dynamixel import (
X_SERIES_BAUDRATE_TABLE as SERIES_BAUDRATE_TABLE,
)
from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus as MotorsBusClass
else:
raise ValueError(
f"Currently we do not support this motor brand: {brand}. We currently support feetech and dynamixel motors."
)
# Check if the provided model exists in the model_baud_rate_table
if model not in MODEL_BAUDRATE_TABLE:
raise ValueError(
f"Invalid model '{model}' for brand '{brand}'. Supported models: {list(MODEL_BAUDRATE_TABLE.keys())}"
)
# Setup motor names, indices, and models
motor_name = "motor"
motor_index_arbitrary = -1 # Use an arbitrary out of range motor ID
motor_model = model # Use the motor model passed via argument
# Initialize the MotorBus with the correct port and motor configurations
motor_bus = MotorsBusClass(port=port, motors={motor_name: (motor_index_arbitrary, motor_model)})
# Try to connect to the motor bus and handle any connection-specific errors
try:
motor_bus.connect()
print(f"Connected on port {motor_bus.port}")
except OSError as e:
print(f"Error occurred when connecting to the motor bus: {e}")
return
# Motor bus is connected, proceed with the rest of the operations
try:
print("Scanning all baudrates and motor indices")
all_baudrates = set(SERIES_BAUDRATE_TABLE.values())
motors_detected = False
for baudrate in all_baudrates:
motor_bus.set_bus_baudrate(baudrate)
present_ids = motor_bus.find_motor_indices(list(range(1, 10)))
if len(present_ids) > 0:
print(f"{len(present_ids)} motor ID(s) detected for baud rate {baudrate}. Motor IDs: {present_ids}.")
motors_detected = True
for motor_idx in present_ids:
present_idx = motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx, "ID", num_retry=2)
if present_idx != motor_idx:
raise OSError(f"Failed to access motor index {motor_idx}.")
if brand == "feetech":
print("Present Position", motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx, "Present_Position", num_retry=2))
print("Offset", motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx, "Offset", num_retry=2))
if not motors_detected:
print("No motors detected.")
print("Scan finished.")
finally:
motor_bus.disconnect()
print("Disconnected from motor bus.")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--port", type=str, required=True, help="Motors bus port (e.g. dynamixel,feetech)")
parser.add_argument("--brand", type=str, required=True, help="Motor brand (e.g. dynamixel,feetech)")
parser.add_argument("--model", type=str, required=True, help="Motor model (e.g. xl330-m077,sts3215)")
args = parser.parse_args()
scan_motors(args.port, args.brand, args.model)