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Servo configuration and calibration

This page records the calibration procedure for the SO-101 follower. Keep a copy of the calibration file locally and commit only files that are safe and useful to share.

Recorded setup

  • Servos: six STS3215 units (the tested build used a 1:345 ratio).
  • Controller: FE-URT-2.
  • Calibration tool: LeRobot calibration workflow.
  • Example Linux serial device: /dev/ttyACM1 (may differ on another boot or machine).

A calibration file was saved during the experiments at:

~/.cache/huggingface/lerobot/calibration/robots/so_follower/my_follower.json

This is a machine-local path, not a file included in this repository.

For every calibration session, record the LeRobot version, robot configuration, serial port, servo IDs, calibration filename, joint limits, and any manual adjustments.

Verification

After calibration, test each joint individually at low speed and within conservative limits. Verify direction, neutral position, and mechanical clearance before attempting coordinated movement.