SO101组装及基础调试

第一章 SO101组装及基础调试

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前言

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一、碰到的问题

1. 显示不不校准wrist_roll

(lerobot) mcx@mcx-MS-7E06:~/lerobot$ lerobot-calibrate     --robot.type=so101_follower     --robot.port=/dev/ttyACM0     --robot.id=my_awesome_follower_arm
INFO 2026-07-06 20:56:52 calibrate.py:89 {'robot': {'calibration_dir': None,
           'cameras': {},
           'disable_torque_on_disconnect': True,
           'id': 'my_awesome_follower_arm',
           'max_relative_target': None,
           'port': '/dev/ttyACM0',
           'use_degrees': True},
 'teleop': None}
INFO 2026-07-06 20:56:52 follower.py:109 my_awesome_follower_arm SOFollower connected.
INFO 2026-07-06 20:56:52 follower.py:126 
Running calibration of my_awesome_follower_arm SOFollower
Move my_awesome_follower_arm SOFollower to the middle of its range of motion and press ENTER....
Move all joints except 'wrist_roll' sequentially through their entire ranges of motion.
Recording positions. Press ENTER to stop...

-------------------------------------------
-------------------------------------------
NAME            |    MIN |    POS |    MAX
shoulder_pan    |    756 |   2075 |   3286
shoulder_lift   |    782 |   2114 |   3200
elbow_flex      |    924 |   2740 |   3132
wrist_flex      |    877 |    922 |   3222
gripper         |   1369 |   1381 |   2844
Calibration saved to /home/mcx/.cache/huggingface/lerobot/calibration/robots/so_follower/my_awesome_follower_arm.json
INFO 2026-07-06 20:59:16 follower.py:240 my_awesome_follower_arm SOFollower disconnected.

通过搜索发现这是lerbot最新代码的问题，尝试了更新到最新代码，依然不能解决问题

cd ~/lerobot
git pull origin main
pip install -e .

最终选择切回到较老的版本

git reset --hard a6ff3cfebb0304f2c378515dd30ea06fff8f473f 
pip install -e .

问题解决