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 SOFollowerMovemy_awesome_follower_arm SOFollower to the middle of its range of motion and press ENTER....Moveall 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