Update tutorial (#1021)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

lerobot/common/robot_devices/robots/configs.py

@@ -431,6 +431,69 @@ class MossRobotConfig(ManipulatorRobotConfig):
     mock: bool = False
 
 
+@RobotConfig.register_subclass("so101")
+@dataclass
+class So101RobotConfig(ManipulatorRobotConfig):
+    calibration_dir: str = ".cache/calibration/so101"
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
+
+    leader_arms: dict[str, MotorsBusConfig] = field(
+        default_factory=lambda: {
+            "main": FeetechMotorsBusConfig(
+                port="/dev/tty.usbmodem58760431091",
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": [1, "sts3215"],
+                    "shoulder_lift": [2, "sts3215"],
+                    "elbow_flex": [3, "sts3215"],
+                    "wrist_flex": [4, "sts3215"],
+                    "wrist_roll": [5, "sts3215"],
+                    "gripper": [6, "sts3215"],
+                },
+            ),
+        }
+    )
+
+    follower_arms: dict[str, MotorsBusConfig] = field(
+        default_factory=lambda: {
+            "main": FeetechMotorsBusConfig(
+                port="/dev/tty.usbmodem585A0076891",
+                motors={
+                    # name: (index, model)
+                    "shoulder_pan": [1, "sts3215"],
+                    "shoulder_lift": [2, "sts3215"],
+                    "elbow_flex": [3, "sts3215"],
+                    "wrist_flex": [4, "sts3215"],
+                    "wrist_roll": [5, "sts3215"],
+                    "gripper": [6, "sts3215"],
+                },
+            ),
+        }
+    )
+
+    cameras: dict[str, CameraConfig] = field(
+        default_factory=lambda: {
+            "laptop": OpenCVCameraConfig(
+                camera_index=0,
+                fps=30,
+                width=640,
+                height=480,
+            ),
+            "phone": OpenCVCameraConfig(
+                camera_index=1,
+                fps=30,
+                width=640,
+                height=480,
+            ),
+        }
+    )
+
+    mock: bool = False
+
+
 @RobotConfig.register_subclass("so100")
 @dataclass
 class So100RobotConfig(ManipulatorRobotConfig):

lerobot/common/robot_devices/robots/feetech_calibration.py

@@ -36,6 +36,12 @@ ZERO_POSITION_DEGREE = 0
 ROTATED_POSITION_DEGREE = 90
 
 
+def reset_middle_positions(arm: MotorsBus):
+    input("Please move the robot to the new middle position for calibration, then press Enter...")
+    # Write 128 to Torque_Enable for all motors.
+    arm.write("Torque_Enable", 128)
+
+
 def assert_drive_mode(drive_mode):
     # `drive_mode` is in [0,1] with 0 means original rotation direction for the motor, and 1 means inverted.
     if not np.all(np.isin(drive_mode, [0, 1])):
@@ -439,6 +445,8 @@ def run_arm_manual_calibration(arm: MotorsBus, robot_type: str, arm_name: str, a
 
     print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
 
+    reset_middle_positions(arm)
+
     print("\nMove arm to zero position")
     print("See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero"))
     input("Press Enter to continue...")

lerobot/common/robot_devices/robots/manipulator.py

@@ -243,7 +243,7 @@ class ManipulatorRobot:
 
         if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
             from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
-        elif self.robot_type in ["so100", "moss", "lekiwi"]:
+        elif self.robot_type in ["so100", "so101", "moss", "lekiwi"]:
             from lerobot.common.robot_devices.motors.feetech import TorqueMode
 
         # We assume that at connection time, arms are in a rest position, and torque can
@@ -260,7 +260,7 @@ class ManipulatorRobot:
             self.set_koch_robot_preset()
         elif self.robot_type == "aloha":
             self.set_aloha_robot_preset()
-        elif self.robot_type in ["so100", "moss", "lekiwi"]:
+        elif self.robot_type in ["so100", "so101", "moss", "lekiwi"]:
             self.set_so100_robot_preset()
 
         # Enable torque on all motors of the follower arms
@@ -313,7 +313,7 @@ class ManipulatorRobot:
 
                     calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
 
-                elif self.robot_type in ["so100", "moss", "lekiwi"]:
+                elif self.robot_type in ["so100", "so101", "moss", "lekiwi"]:
                     from lerobot.common.robot_devices.robots.feetech_calibration import (
                         run_arm_manual_calibration,
                     )

lerobot/common/robot_devices/robots/utils.py

@@ -23,6 +23,7 @@ from lerobot.common.robot_devices.robots.configs import (
     MossRobotConfig,
     RobotConfig,
     So100RobotConfig,
+    So101RobotConfig,
     StretchRobotConfig,
 )
 
@@ -58,6 +59,8 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
         return MossRobotConfig(**kwargs)
     elif robot_type == "so100":
         return So100RobotConfig(**kwargs)
+    elif robot_type == "so101":
+        return So101RobotConfig(**kwargs)
     elif robot_type == "stretch":
         return StretchRobotConfig(**kwargs)
     elif robot_type == "lekiwi":