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S0-101
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| lerobot-teleoperate \ | |
| --robot.type=so101_follower \ | |
| --robot.port=/dev/serial/by-id/usb-1a86_USB_Single_Serial_5AB9068839-if00 \ | |
| --robot.id=spes \ | |
| --teleop.type=so101_leader \ | |
| --teleop.port=/dev/serial/by-id/usb-1a86_USB_Single_Serial_5AB9068835-if00 \ | |
| --teleop.id=spes |
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| cat ~/.cache/huggingface/lerobot/calibration/robots/so101_follower/spes.json | |
| { | |
| "shoulder_pan": { | |
| "id": 1, | |
| "drive_mode": 0, | |
| "homing_offset": 2019, | |
| "range_min": 767, | |
| "range_max": 3476 | |
| }, | |
| "shoulder_lift": { | |
| "id": 2, | |
| "drive_mode": 0, | |
| "homing_offset": -902, | |
| "range_min": 806, | |
| "range_max": 3194 | |
| }, | |
| "elbow_flex": { | |
| "id": 3, | |
| "drive_mode": 0, | |
| "homing_offset": 1206, | |
| "range_min": 904, | |
| "range_max": 3085 | |
| }, | |
| "wrist_flex": { | |
| "id": 4, | |
| "drive_mode": 0, | |
| "homing_offset": -1937, | |
| "range_min": 870, | |
| "range_max": 3177 | |
| }, | |
| "wrist_roll": { | |
| "id": 5, | |
| "drive_mode": 0, | |
| "homing_offset": -1929, | |
| "range_min": 156, | |
| "range_max": 3961 | |
| }, | |
| "gripper": { | |
| "id": 6, | |
| "drive_mode": 0, | |
| "homing_offset": 1157, | |
| "range_min": 2034, | |
| "range_max": 3443 | |
| } | |
| } |
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| cat ~/.cache/huggingface/lerobot/calibration/teleoperators/so101_leader/spes.json | |
| { | |
| "shoulder_pan": { | |
| "id": 1, | |
| "drive_mode": 0, | |
| "homing_offset": -2044, | |
| "range_min": 691, | |
| "range_max": 3410 | |
| }, | |
| "shoulder_lift": { | |
| "id": 2, | |
| "drive_mode": 0, | |
| "homing_offset": -1050, | |
| "range_min": 854, | |
| "range_max": 3223 | |
| }, | |
| "elbow_flex": { | |
| "id": 3, | |
| "drive_mode": 0, | |
| "homing_offset": 1043, | |
| "range_min": 854, | |
| "range_max": 3061 | |
| }, | |
| "wrist_flex": { | |
| "id": 4, | |
| "drive_mode": 0, | |
| "homing_offset": -2023, | |
| "range_min": 853, | |
| "range_max": 3179 | |
| }, | |
| "wrist_roll": { | |
| "id": 5, | |
| "drive_mode": 0, | |
| "homing_offset": -1981, | |
| "range_min": 100, | |
| "range_max": 3906 | |
| }, | |
| "gripper": { | |
| "id": 6, | |
| "drive_mode": 0, | |
| "homing_offset": 1500, | |
| "range_min": 2042, | |
| "range_max": 3257 | |
| } | |
| } |
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