NormaCore Releases SO101 Auto‑Cal

NormaCore’s public codebase documents a 7+1‑DOF ElRobot manipulator and ships SO‑101‑compatible STL parts such as Handle_SO101.stl in the hardware tree. github.com LeRobot’s SO‑101 workflow stores per‑robot JSON calibration files (used by lerobot‑calibrate) which are the de‑facto format third‑party tools must export to be interoperable. so101-ros2.readthedocs.io Common SO‑101 motor hardware is Feetech STS3215 servos with specified gear ratios (follower uses 6× STS3215 @ 1/345 gearing), so any autocal tool must map servo IDs and gear offsets before writing calibration. huggingface.co Community calibration tools disable torque and prompt full‑range joint sweeps to compute EEPROM offsets (centering so virtual zero = 0), a procedure referenced in multiple SO‑101 guides and browser assembly UIs. beambots.dev Viam’s SO‑101 module and several tutorials demonstrate a visual calibration UI and motor‑ID assignment that autocal implementations commonly reproduce to reduce manual setup time. codelabs.viam.com Practical integration notes in the ecosystem show MotorBus/USB enumeration scripts and a 1,000,000 baud firmware workflow (Feetech FD tool) are standard steps before calibration runs—important for any autocal’s USB/serial layer. maegantucker.com NormaCore’s platform includes low‑latency embedded components (NormFS and gremlin.zig) aimed at real‑time robotics pipelines, suggesting their autocal may tie calibration metadata into fleet‑level storage and sync. github.com Multiple community resources (Hugging Face LeRobot docs, SO‑ARM100 repo, and browser assembly pages) already document the exact motor ordering and calibration JSON schema autocal must match to work with ROS2 bridges and sim stacks. huggingface.co