Preserve or create calibration

New calibration creation and application are currently follower-only. Existing leader calibration import, readback and qualified leader-following remain available. Choose the route that matches this arm. Import original calibration… reads inert local data. Check existing calibration reads the device for comparison. Apply selected calibration writes reviewed values. Save new calibration completes the admitted creation procedure. None of these actions means the same thing, and import never silently applies a file.

The calibration step starts with Check existing calibration. If you already have a file, import it, save the controller profile and verify it before considering any write. If you are unsure, use Help find my calibration file or ask whoever configured this arm. Roboty does not automatically search local folders. When no usable original file is available, deliberately choose Create or apply calibration. Uncertainty does not select new calibration for you. No write happens until you explicitly confirm it.

The supported file handoff is LeRobot 0.6.1 SO-101 calibration JSON for the exact arm and role. The upstream default directories are ~/.cache/huggingface/lerobot/calibration/robots/so_follower/ and ~/.cache/huggingface/lerobot/calibration/teleoperators/so_leader/. A custom directory overrides them. Preserve the original file and select its exact revision before saving the controller profile.

Each file must match the selected six joint names, IDs and integer drive_mode, homing_offset, range_min and range_max fields. A file from another arm or unsupported exporter is not interchangeable. Import alone cannot establish its relationship to the actual hardware. A mismatch remains blocked until the supported review or explicit write procedure is admitted.

Opening the calibration connection is read-only. New calibration requires complete assembly, verified full-chain mapping and the profile's supported resting and manual-position instructions. First support the arm and explicitly choose Prepare manual calibration. This disables torque, unlocks configuration and sets the operating mode. Wait for all torque readings to confirm disabled before manually positioning each joint roughly in the middle of its permitted travel. Midpoint refers to each joint’s travel, not the arm’s height above the desk. The official SO-101 calibration video illustrates the midpoint and range process. Use Roboty’s session controls for the current procedure, and the matching supplier instructions for your exact kit. Set calibration midpoint checks torque again before writing homing values. Then use Record joint ranges. The visible joint list shows where travel samples are still missing. Use Save new calibration after reviewing every permitted joint’s travel. Raw counts are sensor readings, not degrees or operating limits. Apply selected calibration is a separate explicit alternative before manual preparation or before setting the midpoint. Move only as instructed, without forcing stops. Wrist roll uses the pinned full-turn range and is not measured like the other bounded joints. Missing, discontinuous or implausible observations need review rather than invented limits.

Roboty preserves original calibration and records device writes separately from saving a successor file. If saving fails after a write, keep the original result and follow reconciliation. Do not assume nothing changed or repeat calibration to repair a missing file. After the original session is closed through protected cessation and power review, Recover calibration file can republish its retained planned JSON without hardware effects. This is an unverified candidate. Select it and perform separate readback before treating it as verified. Joint calibration does not establish workspace/camera registration or safe Cartesian motion.

On the robot page, open Maintenance → I moved or changed something routes mounting, cables/controllers, joints/motors and unexpected behavior to the relevant review. Preserve still-valid calibration. Replacement invalidates only the affected readiness while retaining history.