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Feature/adding sync pos and vel read #2

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6445575
Updating retrieval and setting of joint angles according to motor ste…
May 19, 2026
6ea92fd
Adding comment about the URDF taken for SO101, including the URL of t…
May 19, 2026
94a3e2e
Removing custom calibration option from repo, using directly given va…
May 20, 2026
28669ad
Adding a synchronised position and speed read from the servos functio…
Jun 17, 2026
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10 changes: 1 addition & 9 deletions README.md
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Expand Up @@ -29,14 +29,7 @@ mkdir build && cd build
cmake .. && make -j4
```

### 2. Calibrate the robot (Optional)
The joint limits and home positions can be set interactively using the calibration tool.
```bash
./lerobot_cpp_calibration /dev/ttyACM0
```


### 3. Run the Wave Example
### 2. Run the Wave Example

To build and run the provided wave example:

Expand All @@ -55,7 +48,6 @@ sudo chmod 666 /dev/ttyACM0
| `SO101_Home` | Moves the robot to the calibrated 0 radian (midpoint) position. |
| `SO101_Wave` | Performs a soft "hello" waving animation. |
| `SO101_Record` | Logs current joint positions in real-time for manual teaching. |
| `SO101_Calibration` | Interactive tool to set EEPROM offsets and mechanical limits. |

## Documentation

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89 changes: 0 additions & 89 deletions examples/CalibrationOfs.cpp
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113 changes: 0 additions & 113 deletions examples/robots/SO101_Calibration.cpp
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