XLeRobot Calibration
A guided camera and arm calibration workflow that brings a MuJoCo model closer to the physical robot.
Simulation-to-real workflows depend on knowing where a robot’s cameras and arms actually are. This tool guides an operator through eight calibration stages, measures the robot’s geometry, and writes the fitted parameters back into a MuJoCo model.
A local web dashboard organizes the workflow and checks that the required inputs are available before each stage. The calibration reads encoder counts directly from the servos, without requiring a learned policy or the LeRobot and PyTorch software stacks. The repository includes the calibration algorithms, board-printing guidance, hardware checks, and documentation of the resulting model and measurements.
The tool has been tested on one physical setup. It is intended as a practical research tool whose calibration and results should be checked on each robot.