test formatting github
This commit is contained in:
Pepijn
@@ -2,7 +2,7 @@
|
||||
|
||||
## Table of Contents
|
||||
|
||||
- [ ] [A. Source the parts](#a-source-the-parts)
|
||||
- [A. Source the parts](#a-source-the-parts)
|
||||
- [B. Install LeRobot](#b-install-lerobot)
|
||||
- [C. Configure the motors](#c-configure-the-motors)
|
||||
- [D. Assemble the arms](#d-assemble-the-arms)
|
||||
@@ -18,11 +18,12 @@
|
||||
## 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.
|
||||
and advices if it's your first time printing or if you don't own a 3D printer.
|
||||
|
||||
## B. Install LeRobot
|
||||
|
||||
On your computer:
|
||||
We make heavy use of the Command Prompt (cmd). If you are not comfortable using the cmd or want to brush up using the command line you can have a look here: [Command line crash course](https://developer.mozilla.org/en-US/docs/Learn_web_development/Getting_started/Environment_setup/Command_line)
|
||||
|
||||
#### 1. [Install Miniconda](https://docs.anaconda.com/miniconda/install/#):
|
||||
<details>
|
||||
<summary><strong>Windows</strong></summary>
|
||||
@@ -102,14 +103,15 @@ 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
|
||||
Great :hugs:! You are now done with installing LeRobot and we can begin assembling the SO100 arms. :robot:. Every time you now want to use LeRobot you can go to the folder (/lerobot) where we installed LeRobot via the cmd and run it scripts with the provided command you can find in this document.
|
||||
|
||||
## C. Assembling
|
||||
|
||||
### 1. Find the USB ports associated to each arm
|
||||
|
||||
Designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm.
|
||||
Designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm. It's convenient to label them and write on each motor if it's for the follower `F` or for the leader `L` and it's ID from 1 to 6 (F1...F6 and L1...L6).
|
||||
|
||||
#### a. Run the script to find ports
|
||||
#### a. Run the script to find port
|
||||
|
||||
Follow Step 1 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I), which illustrates the use of our scripts below.
|
||||
|
||||
@@ -154,10 +156,13 @@ sudo chmod 666 /dev/ttyACM1
|
||||
|
||||
Now that you have the ports, modify the *port* sections in `so100.yaml`
|
||||
|
||||
### 2. Configure the motors
|
||||
### 2. Assembling the Base
|
||||
Let's begin with assembling the follower arm base
|
||||
|
||||
HERE, TODO: Assemble wires in first motor, insert first moter in base and place screws, set if of motor, calibrate that motor, move on to next assmbling, repeat...
|
||||
|
||||
#### a. Set IDs for all 12 motors
|
||||
Plug your first motor and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate:
|
||||
Plug your first motor F1 and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate. Replaxe the text after --port to the corresponding follower control board port and run this command in cmd:
|
||||
```bash
|
||||
python lerobot/scripts/configure_motor.py \
|
||||
--port /dev/tty.usbmodem58760432961 \
|
||||
@@ -348,3 +353,31 @@ As you can see, it's almost the same command as previously used to record your t
|
||||
Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot.
|
||||
|
||||
If you have any question or need help, please reach out on Discord in the channel [`#so100-arm`](https://discord.com/channels/1216765309076115607/1237741463832363039).
|
||||
|
||||
> [!NOTE]
|
||||
> Useful information that users should know, even when skimming content.
|
||||
|
||||
> [!TIP]
|
||||
> Helpful advice for doing things better or more easily.
|
||||
|
||||
> [!IMPORTANT]
|
||||
> Key information users need to know to achieve their goal.
|
||||
|
||||
> [!WARNING]
|
||||
> Urgent info that needs immediate user attention to avoid problems.
|
||||
|
||||
> [!CAUTION]
|
||||
> Advises about risks or negative outcomes of certain actions.
|
||||
|
||||
<textarea id="inputBox" placeholder="Paste your text here"></textarea>
|
||||
<button onclick="displayText()">Submit</button>
|
||||
<p id="displayTextHere"></p>
|
||||
|
||||
<script>
|
||||
function displayText() {
|
||||
const input = document.getElementById("inputBox").value;
|
||||
document.getElementById("displayTextHere").innerText = input;
|
||||
}
|
||||
</script>
|
||||
|
||||
<p align="center">Centered </p>
|
||||
|
||||
@@ -1,53 +0,0 @@
|
||||
# Robot Arm Assembly Instructions
|
||||
|
||||
Follow these steps to assemble your robot arm.
|
||||
|
||||
---
|
||||
|
||||
## Step 1: Unbox the Components
|
||||
Unpack the components and verify you have all the required parts.
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
### Navigation
|
||||
<button onclick="location.href='#step-2-assemble-the-base';" style="padding: 10px 20px; font-size: 16px;">Next Step</button>
|
||||
|
||||
---
|
||||
|
||||
## Step 2: Assemble the Base
|
||||
Attach the base to the platform using the provided screws.
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
### Navigation
|
||||
<button onclick="location.href='#step-1-unbox-the-components';" style="padding: 10px 20px; font-size: 16px;">Previous Step</button>
|
||||
<button onclick="location.href='#step-3-attach-the-arm-segments';" style="padding: 10px 20px; font-size: 16px;">Next Step</button>
|
||||
|
||||
---
|
||||
|
||||
## Step 3: Attach the Arm Segments
|
||||
1. Connect each segment in order, ensuring they are aligned.
|
||||
2. Tighten the screws securely.
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
### Navigation
|
||||
<button onclick="location.href='#step-2-assemble-the-base';" style="padding: 10px 20px; font-size: 16px;">Previous Step</button>
|
||||
<button onclick="location.href='#step-4-initialize-the-motor-controller';" style="padding: 10px 20px; font-size: 16px;">Next Step</button>
|
||||
|
||||
---
|
||||
|
||||
## Step 4: Initialize the Motor Controller
|
||||
Install the motor driver software and upload the configuration script:
|
||||
|
||||
```python
|
||||
import tinymovr
|
||||
|
||||
controller = tinymovr.Controller('can0')
|
||||
controller.calibrate_motor()
|
||||
Reference in New Issue
Block a user