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imstevenpmwork merged 3 commits into from
May 9, 2025
Merged

docs: minor corrections and clean-up #1089

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5e5b8b8
remove todo pepijn in docs
pkooij May 9, 2025
b20ed18
Also correct text in docs as proposed in PR #1081
pkooij May 9, 2025
0827399
Update docs diff from PR #944
pkooij May 9, 2025
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12 changes: 7 additions & 5 deletions docs/source/assemble_so101.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,8 @@ Reconnect the usb cable.
#### Update config file

Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
You will find something like, update the `port` values with your actual motor ports:
```python
You will find a class called `so101` where you can update the `port` values with your actual motor ports:
```diff
@RobotConfig.register_subclass("so101")
@dataclass
class So101RobotConfig(ManipulatorRobotConfig):
Expand All @@ -110,7 +110,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431091", <-- UPDATE HERE
- port="/dev/tty.usbmodem58760431091",
+ port="{ADD YOUR LEADER PORT}",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
Expand All @@ -127,7 +128,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0076891", <-- UPDATE HERE
- port="/dev/tty.usbmodem585A0076891",
+ port="{ADD YOUR FOLLOWER PORT}",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
Expand Down Expand Up @@ -297,7 +299,7 @@ Remove all support material from the 3D-printed parts, the easiest way to do thi
##### Wiring

- Attach the motor controller on the back.
- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themself and stay in place.
- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themselves and stay in place.

<div class="video-container">
<video controls width="600">
Expand Down
4 changes: 2 additions & 2 deletions docs/source/getting_started_real_world_robot.mdx
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Expand Up @@ -83,7 +83,7 @@ camera_01_frame_000047.png

Note: Some cameras may take a few seconds to warm up, and the first frame might be black or green.

Now that you have the camera indexes, you should specify the camera's in the config. TODO(pepijn): add more info about setting camera config, rotate etc..
Now that you have the camera indexes, you should specify the camera's in the config.

### Use your phone
<hfoptions id="use phone">
Expand Down Expand Up @@ -152,7 +152,7 @@ If everything is set up correctly, you can proceed with the rest of the tutorial

## Teleoperate with cameras

We can now teleoperate again while at the same time visualizing the camera's and joint positions with `rerun`.
We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`.

```bash
python lerobot/scripts/control_robot.py \
Expand Down
8 changes: 5 additions & 3 deletions examples/12_use_so101.md
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Expand Up @@ -146,7 +146,7 @@ Reconnect the usb cable.

Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
You will find something a class called `so101` where you can update the `port` values with your actual motor ports:
```python
```diff
@RobotConfig.register_subclass("so101")
@dataclass
class So101RobotConfig(ManipulatorRobotConfig):
Expand All @@ -159,7 +159,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
leader_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem58760431091", <-- UPDATE HERE
- port="/dev/tty.usbmodem58760431091",
+ port="{ADD YOUR LEADER PORT}",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
Expand All @@ -176,7 +177,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
follower_arms: dict[str, MotorsBusConfig] = field(
default_factory=lambda: {
"main": FeetechMotorsBusConfig(
port="/dev/tty.usbmodem585A0076891", <-- UPDATE HERE
- port="/dev/tty.usbmodem585A0076891",
+ port="{ADD YOUR FOLLOWER PORT}",
motors={
# name: (index, model)
"shoulder_pan": [1, "sts3215"],
Expand Down
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