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fix: symmetric calibration for wrist_roll motors in SO-101 #3320

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fix: symmetric calibration for wrist_roll motors in SO-101 #3320

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90643c0
fix: calibrate wrist_roll based on current position with symmetric range
cwzhong627-source Apr 8, 2026
acc84af
fix: exclude wrist_roll from homing to avoid offset overflow (>2047)
cwzhong627-source Apr 9, 2026
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18 changes: 13 additions & 5 deletions src/lerobot/robots/so_follower/so_follower.py
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Original file line number Diff line number Diff line change
Expand Up @@ -125,18 +125,26 @@ def calibrate(self) -> None:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)

input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()

# Attempt to call record_ranges_of_motion with a reduced motor set when appropriate.
full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]

current_pos = self.bus.read("Present_Position", full_turn_motor, normalize=False)
if isinstance(current_pos, dict):
current_pos = current_pos[full_turn_motor]

other_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
homing_offsets = self.bus.set_half_turn_homings(other_motors)
homing_offsets[full_turn_motor] = 0

unknown_range_motors = other_motors
print(
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
safe_delta = min(current_pos - 0, 4095 - current_pos, 2048)
range_mins[full_turn_motor] = current_pos - safe_delta
range_maxes[full_turn_motor] = current_pos + safe_delta

self.calibration = {}
for motor, m in self.bus.motors.items():
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17 changes: 13 additions & 4 deletions src/lerobot/teleoperators/so_leader/so_leader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,17 +98,26 @@ def calibrate(self) -> None:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)

input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()

full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]

current_pos = self.bus.read("Present_Position", full_turn_motor, normalize=False)
if isinstance(current_pos, dict):
current_pos = current_pos[full_turn_motor]

other_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
homing_offsets = self.bus.set_half_turn_homings(other_motors)
homing_offsets[full_turn_motor] = 0

unknown_range_motors = other_motors
print(
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
safe_delta = min(current_pos - 0, 4095 - current_pos, 2048)
range_mins[full_turn_motor] = current_pos - safe_delta
range_maxes[full_turn_motor] = current_pos + safe_delta

self.calibration = {}
for motor, m in self.bus.motors.items():
Expand Down