docs: minor corrections and clean-up (huggingface#1089)

Author: pkooij

docs/source/assemble_so101.mdx

@@ -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):
@@ -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"],
@@ -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"],
@@ -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">

docs/source/getting_started_real_world_robot.mdx

@@ -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">
@@ -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 \

examples/12_use_so101.md

@@ -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):
@@ -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"],
@@ -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"],