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Update 12_use_so101.md (#1081)

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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
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CharlesCNorton
2025-05-09 05:04:25 -04:00
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@@ -145,7 +145,7 @@ Reconnect the usb cable.
#### Update config file #### 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). 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: You will find a class called `so101` where you can update the `port` values with your actual motor ports:
```diff ```diff
@RobotConfig.register_subclass("so101") @RobotConfig.register_subclass("so101")
@dataclass @dataclass
@@ -310,7 +310,7 @@ Remove all support material from the 3D-printed parts.
##### Wiring ##### Wiring
- Attach the motor controller on the back. - 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.
<video controls width="640" src="https://github.com/user-attachments/assets/4c2cacfd-9276-4ee4-8bf2-ba2492667b78" type="video/mp4"></video> <video controls width="640" src="https://github.com/user-attachments/assets/4c2cacfd-9276-4ee4-8bf2-ba2492667b78" type="video/mp4"></video>
@@ -353,7 +353,7 @@ python lerobot/scripts/control_robot.py \
``` ```
## Control your robot ## Control your robot
Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain you how to train a neural network to autonomously control a real robot. Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain to you how to train a neural network to autonomously control a real robot.
**You'll learn to:** **You'll learn to:**
1. How to record and visualize your dataset. 1. How to record and visualize your dataset.
@@ -517,7 +517,7 @@ If you have an additional camera you can add a wrist camera to the SO101. There
## Teleoperate with cameras ## 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 ```bash
python lerobot/scripts/control_robot.py \ python lerobot/scripts/control_robot.py \
@@ -528,7 +528,7 @@ python lerobot/scripts/control_robot.py \
## Record a dataset ## Record a dataset
Once you're familiar with teleoperation, you can record your first dataset with SO-100. Once you're familiar with teleoperation, you can record your first dataset with SO-101.
We use the Hugging Face hub features for uploading your dataset. If you haven't previously used the Hub, make sure you can login via the cli using a write-access token, this token can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens). We use the Hugging Face hub features for uploading your dataset. If you haven't previously used the Hub, make sure you can login via the cli using a write-access token, this token can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens).