From 409601474f58c140ce5f244badeb103ad4375180 Mon Sep 17 00:00:00 2001
From: Pepijn <pepijn@huggingface.co>
Date: Mon, 27 Jan 2025 16:24:41 +0100
Subject: [PATCH] test emoji

---
 examples/10_use_so100.md | 76 ++++++++++++++++++++++++++++++----------
 1 file changed, 58 insertions(+), 18 deletions(-)

diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md
index 155bbe519..70ffc9e0a 100644
--- a/examples/10_use_so100.md
+++ b/examples/10_use_so100.md
@@ -3,52 +3,92 @@
 
 ## 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