TheRobotStudio
GripperLeader calibration error
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 calibrate
Traceback (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 calibrate
During 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
I have been making some tests and I think that I found my issue. My grip is giving me more than the 100 degrees of freedom that the grip needs. So If I try to make the calibration with it it fails.
The solution will be modifying this limit or just adjust the hardware limit of the grip.
I'm getting the same error when running the calibration
ValueError: No integer found between bounds [low_factor=np.float32(0.018066406), upp_factor=np.float32(0.018066406)]
Not sure I understand what you describe @correderadiego . Did you figure it out?
My problem was that the grip gaves a wider angle that the software limits. So I modify the feedtech class with my new limits. I increase the limits step by step útil the error desapears.
El lun, 21 abr 2025, 9:15, Emil Rofors @.***> escribió:
I'm getting the same error when running the calibration
ValueError: No integer found between bounds [low_factor=np.float32(0.018066406), upp_factor=np.float32(0.018066406)]
Not sure I understand what you describe @correderadiego https://github.com/correderadiego . Did you figure it out?
— Reply to this email directly, view it on GitHub https://github.com/TheRobotStudio/SO-ARM100/issues/60#issuecomment-2817817022, or unsubscribe https://github.com/notifications/unsubscribe-auth/AEQ4JWVUXGDNNETABKQF2VD22SLKTAVCNFSM6AAAAAB3BEL5UCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDQMJXHAYTOMBSGI . You are receiving this because you were mentioned.Message ID: @.***> DipFlip left a comment (TheRobotStudio/SO-ARM100#60) https://github.com/TheRobotStudio/SO-ARM100/issues/60#issuecomment-2817817022
I'm getting the same error when running the calibration
ValueError: No integer found between bounds [low_factor=np.float32(0.018066406), upp_factor=np.float32(0.018066406)]
Not sure I understand what you describe @correderadiego https://github.com/correderadiego . Did you figure it out?
— Reply to this email directly, view it on GitHub https://github.com/TheRobotStudio/SO-ARM100/issues/60#issuecomment-2817817022, or unsubscribe https://github.com/notifications/unsubscribe-auth/AEQ4JWVUXGDNNETABKQF2VD22SLKTAVCNFSM6AAAAAB3BEL5UCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDQMJXHAYTOMBSGI . You are receiving this because you were mentioned.Message ID: @.***>