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Pepijn
2025-01-27 16:24:41 +01:00
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examples/10_use_so100.md
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## A. Source the parts
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with link to source the parts, as well as the instructions to 3D print the parts, and advices if it's your first time printing or if you don't own a 3D printer already.
**Important**: Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with link to source the parts, as well as the instructions to 3D print the parts,
and advices if it's your first time printing or if you don't own a 3D printer already.
## B. Install LeRobot
On your computer:
#### 1. [Install Miniconda](https://docs.anaconda.com/miniconda/install/#):
<details>
<summary><strong>Windows</strong></summary>
Please follow the steps for Windows here: [Install Miniconda Windows](https://docs.anaconda.com/miniconda/install/#):
</details>
<details>
<summary><strong>Mac M-series</strong></summary>
1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install):
```bash
mkdir -p ~/miniconda3
# Linux:
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
# Mac M-series:
# curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh -o ~/miniconda3/miniconda.sh
# Mac Intel:
# curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -o ~/miniconda3/miniconda.sh
curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh -o ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
~/miniconda3/bin/conda init bash
```
2. Restart shell or `source ~/.bashrc` (*Mac*: `source ~/.bash_profile`) or `source ~/.zshrc` if you're using zshell
</details>
<details>
<summary><strong>Mac Intel</strong></summary>
3. Create and activate a fresh conda environment for lerobot
```bash
conda create -y -n lerobot python=3.10 && conda activate lerobot
mkdir -p ~/miniconda3
curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -o ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
~/miniconda3/bin/conda init bash
```
4. Clone LeRobot:
</details>
<details>
<summary><strong>Linux</strong></summary>
```bash
mkdir -p ~/miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
~/miniconda3/bin/conda init bash
```
</details>
#### 2. Restart shell
Copy paste in your shell: `source ~/.bashrc` or for Mac: `source ~/.bash_profile` or `source ~/.zshrc` if you're using zshell
#### 3. Create and activate a fresh conda environment for lerobot
```bash
conda create -y -n lerobot python=3.10
```
then do to activate your conda envoirment (do this each time you open a shell to use lerobot!):
```bash
conda activate lerobot
```
#### 4. Clone LeRobot:
```bash
git clone https://github.com/huggingface/lerobot.git ~/lerobot
```
5. Install LeRobot with dependencies for the feetech motors:
#### 5. Install LeRobot with dependencies for the feetech motors:
```bash
cd ~/lerobot && pip install -e ".[feetech]"
```
*For Linux only (not Mac)*: install extra dependencies for recording datasets:
*EXTRA: For Linux only (not Mac)*: install extra dependencies for recording datasets:
```bash
conda install -y -c conda-forge ffmpeg
pip uninstall -y opencv-python
conda install -y -c conda-forge "opencv>=4.10.0"
```
Great! You are now done with installing LeRobot and we can begin assembeling the SO100 robots. :robot:
## C. Configure the motors
### 1. Find the USB ports associated to each arm
@@ -98,7 +138,7 @@ sudo chmod 666 /dev/ttyACM1
#### d. Update YAML file
Now that you have the ports, modify the *port* sections in `so100.yaml`
Now that you have the ports, modify the *port* sections in `so100.yaml`
### 2. Configure the motors