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/**
* Calibration Demo
*
* Demonstrates robot motor calibration with live feedback
*/
import { findPort, connectPort, releaseMotors, calibrate } from "@lerobot/node";
import type { RobotConnection, DiscoveredPort } from "@lerobot/node";
async function demoCalibrate() {
console.log("🎯 Calibration Demo");
console.log("===================\n");
try {
// Step 1: Find available robot ports
console.log("📡 Looking for connected robots...");
const findProcess = await findPort();
const discoveredPorts = await findProcess.result;
if (discoveredPorts.length === 0) {
throw new Error("No robots found. Please connect your robot first.");
}
console.log(`✅ Found robot on ${discoveredPorts[0].path}`);
// Step 2: Connect to robot
console.log("🔌 Connecting to robot...");
const robot = await connectPort(
discoveredPorts[0].path,
"so100_follower",
"calibration_demo"
);
console.log(`✅ Connected: ${robot.robotType} (ID: ${robot.robotId})\n`);
// Step 3: Release motors
console.log("🔓 Releasing motors for calibration setup...");
await releaseMotors(robot);
console.log("✅ Motors released - robot can now be moved by hand");
console.log("\n📍 Move robot to your preferred starting position...");
console.log("Press any key to continue...");
// Simple key press handler without readline conflicts
process.stdin.setRawMode(true);
process.stdin.resume();
await new Promise<void>((resolve) => {
const onData = () => {
process.stdin.setRawMode(false);
process.stdin.pause();
process.stdin.removeListener("data", onData);
resolve();
};
process.stdin.once("data", onData);
});
// Step 4: Calibration process
console.log("\n🎯 Starting calibration process...");
console.log("This will:");
console.log("1. Set homing offsets (center positions)");
console.log("2. Record range of motion for each motor");
console.log("3. Write position limits to robot hardware");
console.log("4. Save calibration data for future use\n");
const calibrationProcess = await calibrate({
robot,
onProgress: (message) => {
console.log(`📊 ${message}`);
},
onLiveUpdate: (data) => {
// Display real-time motor positions and ranges
const updates = Object.entries(data).map(([name, info]) => {
const range = info.max - info.min;
return `${name}: ${info.current} [${info.min}→${info.max}] (range: ${range})`;
});
console.clear();
console.log("🔄 Live Calibration Data:");
console.log("========================");
updates.forEach((update) => console.log(` ${update}`));
console.log("\n💡 Move each motor through its full range of motion");
console.log(" Press Enter to complete calibration...");
},
});
// Wait for calibration to complete (it handles user input internally)
const calibrationData = await calibrationProcess.result;
console.log("\n✅ Calibration completed successfully!");
// Display detailed results
console.log("\n📋 Detailed Calibration Results:");
console.log("=================================");
Object.entries(calibrationData).forEach(([motorName, config]) => {
const range = config.range_max - config.range_min;
console.log(`${motorName}:`);
console.log(` Motor ID: ${config.id}`);
console.log(` Drive Mode: ${config.drive_mode}`);
console.log(` Homing Offset: ${config.homing_offset}`);
console.log(
` Range: ${config.range_min} → ${config.range_max} (${range} steps)`
);
console.log(` Degrees: ~${((range / 4096) * 360).toFixed(1)}°\n`);
});
console.log("💾 Calibration saved to HuggingFace cache directory");
console.log("🔄 This file is compatible with Python lerobot");
console.log("\n🎉 Calibration demo completed!");
console.log("💡 You can now use this calibration data for teleoperation");
// Ensure process can exit cleanly
process.exit(0);
} catch (error) {
console.error("\n❌ Calibration failed:", error.message);
console.log("\n🔧 Troubleshooting:");
console.log("- Ensure robot is connected and responsive");
console.log("- Check that motors can move freely during calibration");
console.log("- Avoid forcing motors past their mechanical limits");
console.log("- Try restarting the robot if motors become unresponsive");
process.exit(1);
}
}
demoCalibrate();
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