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Add initial docs for lekiwi teleop

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Pepijn
2025-05-16 11:33:44 +02:00
committed by Steven Palma
parent 54da1d8181
commit 5e160be3cc
6 changed files with 137 additions and 187 deletions
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docs/source/so100.md
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@@ -310,7 +310,7 @@ If you are repurposing motors from another robot, you will probably also need to
Connect the usb cable from your computer and the power supply to the follower arm's controller board. Then, run the following command or run the API example with the port you got from the previous step. You'll also need to give your leader arm a name with the `id` parameter.
TODO(pepijn): refer to video instructions SO101 here
For a visual reference on how to set the motor ids please refer to [this video](http://localhost:5173/so101#setup-motors-video) where we follow the process for the SO101 arm.
<hfoptions id="setup_motors">
<hfoption id="Command">
@@ -433,9 +433,7 @@ follower.disconnect()
</hfoption>
</hfoptions>
TODO(pepijn): write docs for doing calibration
- First step is moving to middle position (add image)
- Second step is moving all joints to full range (add video with laptop screen side by side)
We unified the calibration method for most robots, thus the calibration steps for this SO100 arm are the same as the steps for the Koch and SO101. First we have to move the robot to position where each joint is in the middle of its range, then we press `Enter`. Secondly we move all joints thru their full range of motion. A video of this same process for the SO101 as reference can be found [here](http://localhost:5173/so101#calibration-video)
#### Leader