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GripperLeader calibration error #57
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Reference: github/SO-ARM100#57
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Originally created by @correderadiego on 4/13/2025
I am having issues calibrating the leader board. I have managed to mount both arms but in the calibration process I am having the following error. I have tested with different servos in the gripper and the result is the same.
Do you have any idea? Thanks for all and for this amazing project. :)
python lerobot/scripts/control_robot.py --robot.type so100 --control.type teleoperate
INFO 2025-04-13 15:42:29 ol_robot.py:353 {'control': {'display_cameras': True, 'fps': None, 'teleop_time_s': None},
'robot': {'calibration_dir': '.cache/calibration/so100',
'cameras': {'laptop': {'camera_index': 0,
'channels': 3,
'color_mode': 'rgb',
'fps': 30,
'height': 480,
'mock': False,
'rotation': None,
'width': 640},
'phone': {'camera_index': 2,
'channels': 3,
'color_mode': 'rgb',
'fps': 30,
'height': 480,
'mock': False,
'rotation': None,
'width': 640}},
'follower_arms': {'main': {'mock': False,
'motors': {'elbow_flex': [3, 'sts3215'],
'gripper': [6, 'sts3215'],
'shoulder_lift': [2,
'sts3215'],
'shoulder_pan': [1, 'sts3215'],
'wrist_flex': [4, 'sts3215'],
'wrist_roll': [5, 'sts3215']},
'port': '/dev/ttyACM0'}},
'gripper_open_degree': None,
'leader_arms': {'main': {'mock': False,
'motors': {'elbow_flex': [3, 'sts3215'],
'gripper': [6, 'sts3215'],
'shoulder_lift': [2, 'sts3215'],
'shoulder_pan': [1, 'sts3215'],
'wrist_flex': [4, 'sts3215'],
'wrist_roll': [5, 'sts3215']},
'port': '/dev/ttyACM1'}},
'max_relative_target': None,
'mock': False}}
Connecting main follower arm.
Connecting main leader arm.
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 -127.23577117919922 %. This might be due to a cable connection issue creating an artificial jump in motor values. You need to recalibrate by running:
python lerobot/scripts/control_robot.py calibrateTraceback (most recent call last):
File "/home/ziash/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 397, in apply_calibration_autocorrect
values = self.apply_calibration(values, motor_names)
File "/home/ziash/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 467, in apply_calibration
raise JointOutOfRangeError(
lerobot.common.robot_devices.motors.feetech.JointOutOfRangeError: 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 -127.23577117919922 %. This might be due to a cable connection issue creating an artificial jump in motor values. You need to recalibrate by running:
python lerobot/scripts/control_robot.py calibrateDuring handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/ziash/lerobot/lerobot/scripts/control_robot.py", line 373, in
control_robot()
File "/home/ziash/lerobot/lerobot/configs/parser.py", line 120, in wrapper_inner
response = fn(cfg, *args, **kwargs)
File "/home/ziash/lerobot/lerobot/scripts/control_robot.py", line 360, in control_robot
teleoperate(robot, cfg.control)
File "/home/ziash/lerobot/lerobot/common/robot_devices/utils.py", line 28, in wrapper
raise e
File "/home/ziash/lerobot/lerobot/common/robot_devices/utils.py", line 24, in wrapper
return func(robot, *args, **kwargs)
File "/home/ziash/lerobot/lerobot/scripts/control_robot.py", line 205, in teleoperate
control_loop(
File "/home/ziash/lerobot/lerobot/common/datasets/image_writer.py", line 36, in wrapper
raise e
File "/home/ziash/lerobot/lerobot/common/datasets/image_writer.py", line 29, in wrapper
return func(*args, **kwargs)
File "/home/ziash/lerobot/lerobot/common/robot_devices/control_utils.py", line 216, in control_loop
robot.connect()
File "/home/ziash/lerobot/lerobot/common/robot_devices/robots/manipulator.py", line 272, in connect
self.leader_arms[name].read("Present_Position")
File "/home/ziash/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 757, in read
values = self.apply_calibration_autocorrect(values, motor_names)
File "/home/ziash/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 400, in apply_calibration_autocorrect
self.autocorrect_calibration(values, motor_names)
File "/home/ziash/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 553, in autocorrect_calibration
raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]")
ValueError: No integer found between bounds [low_factor=np.float32(0.15283203), upp_factor=np.float32(0.27294922)]