SO101 Error

[sparkjune]

Hello guys,

SO101 arm error as follow,

Error start -----------------------------------------------------------------------------------------------------------

Calibration file not found '.cache\calibration\so101\main_follower.json'
Connecting main follower arm.
Connecting main leader arm.
Missing calibration file '.cache\calibration\so101\main_follower.json'
Traceback (most recent call last):
File "E:\embodiedAI\vla\lerobot\lerobot\scripts\control_robot.py", line 476, in
control_robot()
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\configs\parser.py", line 227, in wrapper_inner
response = fn(cfg, *args, **kwargs)
File "E:\embodiedAI\vla\lerobot\lerobot\scripts\control_robot.py", line 447, in control_robot
calibrate(robot, cfg.control)
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\utils.py", line 42, in wrapper
raise e
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\utils.py", line 38, in wrapper
return func(robot, *args, **kwargs)
File "E:\embodiedAI\vla\lerobot\lerobot\scripts\control_robot.py", line 228, in calibrate
robot.connect()
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\robots\manipulator.py", line 256, in connect
self.activate_calibration()
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\robots\manipulator.py", line 331, in activate_calibration
calibration = load_or_run_calibration_(name, arm, "follower")
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\robots\manipulator.py", line 321, in load_or_run_calibration_
calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\robots\feetech_calibration.py", line 443, in run_arm_manual_calibration
if (arm.read("Torque_Enable") != TorqueMode.DISABLED.value).any():
File "D:\lh\anaconda\envs\lerobot\lib\site-packages\lerobot\common\robot_devices\motors\feetech.py", line 751, in read
raise ConnectionError(
ConnectionError: Read failed due to communication error on port COM8 for group_key Torque_Enable_shoulder_pan_shoulder_lift_elbow_flex_wrist_flex_wrist_roll_gripper: [TxRxResult] There is no status packet!

Error end------------------------------------------------------------------------------------------------------------------------------

I learned that it was the wiring that was loose, but I checked and didn't find it， somebody know ，how to fix it？and how to check it？

[pkooij]

@sparkjune You can best check it by looking at the motor led. Start at the base and look if the motor led is on. Then move up each motor, if one is off then you know which cable is loose.