Datasets:

---

youliangtan

/

so101-table-cleanup

like 32

Problem

I'm running inference with the Pi05 model on my SO101 robotic arm. The model successfully generates and executes actions, but the robot's motion trajectory deviates significantly from the expected behavior and fails to complete the task.

Root Cause Analysis

I suspect there's a calibration range mismatch between my robot setup and the one used to collect your dataset. Since SO101 calibration determines joint ranges (min/max) through manual movement, different calibrations result in different mappings of normalized actions to physical positions.

Request

Could you please share your calibration file (.json or .yaml) that includes the homing_offset, drive_mode, range_min, and range_max values for each motor? This would allow me to align my robot's calibration with your setup.

Example format:

{
  "shoulder_pan": {"homing_offset": 0, "drive_mode": 0, "range_min": 927, "range_max": 3093},
  "shoulder_lift": {"homing_offset": 0, "drive_mode": 0, "range_min": 2044, "range_max": 4096},
  ...
}

Thank you for your help!