so101_base_config: bound Feetech bus write retries in calibrate_so101 - #943
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WalkthroughCalibration now uses a configurable LeRobot bus-write retry shim by default. The CLI can override the retry floor or disable the shim with ChangesCalibration retry support
Priority: ⬇️ Low Merge Risk: ⚪ Minimal · up to No actionable code-level merge risk remains from the reviewed retry-wrapper changes. Caution Pre-merge checks failedPlease resolve all errors before merging. Addressing warnings is optional.
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Full details: Human Review CheckExplanation The PR changes a user-facing public CLI and an importable public function signature. The installed
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Inline comments:
In `@src/so101_base_config/script/calibrate_so101.py`:
- Line 219: Update the argument parser for --bus-write-retries to reject values
below zero while preserving 0 as the unwrapped-operation setting; add a parser
test covering -1 and ensure run_calibration continues to select the shim only
for positive values.
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src/so101_base_config/README.mdsrc/so101_base_config/script/calibrate_so101.pysrc/so101_base_config/test/test_calibrate_so101.py
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…_so101 Bench evidence (2026-09-12, WCH CH343 adapters, STS3215 servos): stock lerobot_calibrate failed at connect with "Incorrect status packet" on a WRITE to a far-end servo, while a 300-read stress test on the same bus was clean. LeRobot's MotorsBus._write/_sync_write take num_retry but the CLI never sets it. calibrate_so101.py now runs lerobot_calibrate through a shim that floors num_retry at 5 (--bus-write-retries to change it, 0 to run the stock CLI unmodified). Also updates the README's "Known gaps" P_Coefficient note check: that paragraph already reflects the PR 942 gain-restore fix, so no edit was needed there - left as-is.
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Summary
Bench evidence (2026-09-12, WCH CH343 adapters, STS3215 servos): the stock
lerobot_calibratefailed twice at connect withIncorrect status packeton a WRITE to a far-end servo (Torque_Enable on id 5, then Lock on id 6), while a 300-read stress test on the same bus was clean. LeRobot'sMotorsBus._write/_sync_writetakenum_retrybut the calibrate CLI never sets it. Raising both to 5 retries made connect succeed first try, twice, and calibration completed normally.script/calibrate_so101.pynow runslerobot_calibratethrough a small shim (python -c ...) that monkeypatchesMotorsBus._write/_sync_writeto floornum_retryat N before calling LeRobot's own unmodified CLI. New--bus-write-retries Nflag, default 5;0disables the wrapping and runs the stock invocation. Interactive prompts still go straight to the operator (no stdin/stdout capture); existing pre-checks (dialout, lerobot import, existing-JSON prompt, post-run JSON check) are unchanged.config/so101_follower_calibration.yaml'sp_cofficient: 32), so no edit was needed there.Needs a bench run of the retry path before merge — the retry count (5) and the specific failure mode were only exercised against the reference bench's WCH CH343 adapters; this PR should not merge until a maintainer confirms the wrapped invocation still calibrates cleanly on real hardware.
Test plan
colcon test --packages-select so101_base_config(viamoveit-pro-baseimage) — 95 tests, 0 failures, including 11 intest_calibrate_so101.pycovering the new shim command line,--bus-write-retries 0falling back to the stock invocation, and the--bus-write-retriesargparse default/override.pre-commit run --all-files— clean.Release notes
so101_base_config'sscript/calibrate_so101.pynow retries dropped Feetech bus writes during calibration (--bus-write-retries, default 5).Claude agent checks