XiaomanZhang/calibration

# SO101 Calibration Files

Calibration files for SO101 robot arms used with [LeRobot](https://github.com/huggingface/lerobot).

Covers both the single-arm setup (`so101_follower` / `so101_leader`, old codebase)
and the bimanual setup (`so_follower` / `so_leader`, new `lerobot_training` codebase).

## How to use

```bash
huggingface-cli download XiaomanZhang/calibration --repo-type dataset --local-dir ~/.cache/huggingface/lerobot/calibration
```

## Files

```
~/.cache/huggingface/lerobot/calibration/
├── robots/
│ ├── so101_follower/
│ │ └── follower.json # Single-arm follower (right arm)
│ └── so_follower/
│ ├── bimanual_left.json # Bimanual left follower
│ └── bimanual_right.json # Bimanual right follower
└── teleoperators/
├── so101_leader/
│ └── leader.json # Single-arm leader (right arm)
└── so_leader/
├── bimanual_left.json # Bimanual left leader
└── bimanual_right.json # Bimanual right leader
```

Bimanual `BiSOFollower` delegates to inner `SOFollower` instances
(class `name = "so_follower"`), so its calibration lives under
`robots/so_follower/`, not `robots/bi_so_follower/`.

## Robot ports

Single arm:
- Follower: `/dev/tty.usbmodem5AAF2881951`
- Leader: `/dev/tty.usbmodem5AAF2880101`

Bimanual:
- Left follower: `/dev/tty.usbmodem5AE60840781`
- Right follower: `/dev/tty.usbmodem5AAF2881951`
- Left leader: `/dev/tty.usbmodem5AB01585371`
- Right leader: `/dev/tty.usbmodem5AAF2880101`