hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Docs: adapt text + fix video code (#1064)

Browse Source
This commit is contained in:
Pepijn
2025-05-02 16:10:13 +02:00
committed by GitHub
parent a1daeaf0c4
commit ee5525fea1
2 changed files with 53 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

90
docs/source/assemble_so101.mdx
View File

@@ -143,10 +143,11 @@ class So101RobotConfig(ManipulatorRobotConfig):
```
Here is a video of the process:
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-find-motorbus.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-find-motorbus.mp4" type="video/mp4" />
</video>
</div>
## Step-by-Step Assembly Instructions
@@ -186,10 +187,11 @@ python lerobot/scripts/configure_motor.py \
Redo this process for all your motors until ID 6. Do the same for the 6 motors of the leader arm, but make sure to change the power supply if you use motors with different voltage and make sure you give the right ID to the right motor according to the table above.
Here is a video of the process:
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-configure-motor.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-configure-motor.mp4" type="video/mp4" />
</video>
</div>
### Clean Parts
Remove all support material from the 3D-printed parts, the easiest wat to do this is using a small screwdriver to get underneath the support material.
@@ -204,10 +206,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
- Add the shoulder motor holder.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4" type="video/mp4" />
</video>
</div>
### Joint 2
@@ -216,10 +219,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
- Attach the upper arm with 4 M3x6mm screws on each side.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4" type="video/mp4" />
</video>
</div>
### Joint 3
@@ -227,10 +231,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4" type="video/mp4" />
</video>
</div>
### Joint 4
@@ -238,10 +243,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Slide in motor 4.
- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4" type="video/mp4" />
</video>
</div>
### Joint 5
@@ -249,10 +255,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4" type="video/mp4" />
</video>
</div>
### Gripper / Handle
@@ -264,10 +271,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Attach the motor horns and again use a M3x6mm horn screw.
- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4" type="video/mp4" />
</video>
</div>
</hfoption>
<hfoption id="Leader">
@@ -277,10 +285,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
- Attach the follower trigger with 4 M3x6mm screws.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4" type="video/mp4" />
</video>
</div>
</hfoption>
</hfoptions>
@@ -290,10 +299,11 @@ Remove all support material from the 3D-printed parts, the easiest wat to do thi
- 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.
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Wiring_v2.mp4" type="video/mp4" />
Your browser does not support the video tag.
</video>
<div class="video-container">
<video controls width="600">
<source src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Wiring_v2.mp4" type="video/mp4" />
</video>
</div>
## Calibrate

6
docs/source/index.mdx
View File

@@ -10,10 +10,10 @@
🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier for entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models.
🤗 LeRobot contains state-of-the-art approaches that have been shown to transfer to the real-world with a focus on imitation learning and reinforcement learning: github.com/huggingface/lerobot
🤗 LeRobot contains state-of-the-art approaches that have been shown to transfer to the real-world with a focus on imitation learning and reinforcement learning.
🤗 LeRobot already provides a set of pretrained models, datasets with human collected demonstrations, and simulated environments so that everyone can get started. In the coming weeks, the plan is to add more and more support for real-world robotics on the most affordable and capable robots out there.
🤗 LeRobot already provides a set of pretrained models, datasets with human collected demonstrations, and simulated environments so that everyone can get started.
🤗 LeRobot hosts pretrained models and datasets on this HuggingFace community page: huggingface.co/lerobot
🤗 LeRobot hosts pretrained models and datasets on the LeRobot HuggingFace page.
Join the LeRobot community on [Discord](https://discord.gg/s3KuuzsPFb)