~/lerobot$ python3.10 lerobot/scripts/control_robot.py teleoperate --robot-path lerobot/configs/robot/so100.yaml
Connecting main follower arm.
Connecting main leader arm.
Activating torque on main follower arm.
/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py:471: RuntimeWarning: divide by zero encountered in scalar divide
  values[i] = (values[i] - start_pos) / (end_pos - start_pos) * 100
Wrong motor position range detected for gripper. Expected to be in nominal range of [0, 100] % (a full linear translation), with a maximum range of [-10, 110] % to account for some imprecision during calibration, but present value is inf %. This might be due to a cable connection issue creating an artificial jump in motor values. You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`
/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py:543: RuntimeWarning: divide by zero encountered in scalar divide
  calib_val = (values[i] - start_pos) / (end_pos - start_pos) * 100
Traceback (most recent call last):
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 404, in apply_calibration_autocorrect
    values = self.apply_calibration(values, motor_names)
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 474, in apply_calibration
    raise JointOutOfRangeError(
lerobot.common.robot_devices.motors.feetech.JointOutOfRangeError: Wrong motor position range detected for gripper. Expected to be in nominal range of [0, 100] % (a full linear translation), with a maximum range of [-10, 110] % to account for some imprecision during calibration, but present value is inf %. This might be due to a cable connection issue creating an artificial jump in motor values. You need to recalibrate by running: `python lerobot/scripts/control_robot.py calibrate`

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/mbauer/lerobot/lerobot/scripts/control_robot.py", line 564, in <module>
    teleoperate(robot, **kwargs)
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/utils.py", line 28, in wrapper
    raise e
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/utils.py", line 24, in wrapper
    return func(robot, *args, **kwargs)
  File "/home/mbauer/lerobot/lerobot/scripts/control_robot.py", line 177, in teleoperate
    control_loop(
  File "/home/mbauer/lerobot/lerobot/common/datasets/image_writer.py", line 36, in wrapper
    raise e
  File "/home/mbauer/lerobot/lerobot/common/datasets/image_writer.py", line 29, in wrapper
    return func(*args, **kwargs)
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/control_utils.py", line 242, in control_loop
    robot.connect()
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/robots/manipulator.py", line 343, in connect
    self.follower_arms[name].read("Present_Position")
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 760, in read
    values = self.apply_calibration_autocorrect(values, motor_names)
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 407, in apply_calibration_autocorrect
    self.autocorrect_calibration(values, motor_names)
  File "/home/mbauer/lerobot/lerobot/common/robot_devices/motors/feetech.py", line 565, in autocorrect_calibration
    raise ValueError(f"No integer found between bounds [{low_factor=}, {upp_factor=}]")
ValueError: No integer found between bounds [low_factor=np.float32(-0.0007324219), upp_factor=np.float32(-0.0007324219)]

~/lerobot$ cat .cache/calibration/so100/main_follower.json 
{"homing_offset": [4658, -2773, 645, -2757, -2358, -3022], "drive_mode": [1, 0, 0, 0, 0, 0], "start_pos": [3635, 3797, 379, 3781, 3382, 4046], "end_pos": [-3634, 3797, 379, 3781, 3382, 4046], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}

~/lerobot$ cat .cache/calibration/so100/main_leader.json 
{"homing_offset": [-2555, 628, 205, 655, -878, 977], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [3579, 396, 819, 369, 1902, 46], "end_pos": [3579, 396, 819, 369, 1902, 47], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}