diff --git a/lerobot/common/robots/so100_follower/so100.mdx b/lerobot/common/robots/so100_follower/so100.mdx index d6149b5b..5443a687 100644 --- a/lerobot/common/robots/so100_follower/so100.mdx +++ b/lerobot/common/robots/so100_follower/so100.mdx @@ -15,6 +15,166 @@ In addition to these instructions, you need to install the Feetech SDK: pip install -e ".[feetech]" ``` +## Configure the motors + +**Note:** +Unlike the SO-101, the motor connectors are not easily accessible once the arm is assembled, so the configuration step must be done beforehand. + +### 1. Find the USB ports associated with each arm + +To find the port for each bus servo adapter, run this script: +```bash +python lerobot/find_port.py +``` + + + + +Example output: + +``` +Finding all available ports for the MotorBus. +['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] +Remove the USB cable from your MotorsBus and press Enter when done. + +[...Disconnect corresponding leader or follower arm and press Enter...] + +The port of this MotorsBus is /dev/tty.usbmodem575E0032081 +Reconnect the USB cable. +``` + +Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your leader or follower arm. + + + + +On Linux, you might need to give access to the USB ports by running: +```bash +sudo chmod 666 /dev/ttyACM0 +sudo chmod 666 /dev/ttyACM1 +``` + +Example output: + +``` +Finding all available ports for the MotorBus. +['/dev/ttyACM0', '/dev/ttyACM1'] +Remove the usb cable from your MotorsBus and press Enter when done. + +[...Disconnect corresponding leader or follower arm and press Enter...] + +The port of this MotorsBus is /dev/ttyACM1 +Reconnect the USB cable. +``` + +Where the found port is: `/dev/ttyACM1` corresponding to your leader or follower arm. + + + + +### 2. Set the motors ids and baudrates + +Each motor is identified by a unique id on the bus. When brand new, motors usually come with a default id of `1`. For the communication to work properly between the motors and the controller, we first need to set a unique, different id to each motor. Additionally, the speed at which data is transmitted on the bus is determined by the baudrate. In order to talk to each other, the controller and all the motors need to be configured with the same baudrate. + +To that end, we first need to connect to each motor individually with the controller in order to set these. Since we will write these parameters in the non-volatile section of the motors' internal memory (EEPROM), we'll only need to do this once. + +If you are repurposing motors from another robot, you will probably also need to perform this step as the ids and baudrate likely won't match. + +#### Follower + +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. + +For a visual reference on how to set the motor ids please refer to [this video](https://huggingface.co/docs/lerobot/en/so101#setup-motors-video) where we follow the process for the SO101 arm. + + + + +```bash +python -m lerobot.setup_motors \ + --robot.type=so100_follower \ + --robot.port=/dev/tty.usbmodem585A0076841 # <- paste here the port found at previous step +``` + + + +```python +from lerobot.common.robots.so100_follower import SO100Follower, SO100FollowerConfig + +config = SO100FollowerConfig( + port="/dev/tty.usbmodem585A0076841", + id="my_awesome_follower_arm", +) +follower = SO100Follower(config) +follower.setup_motors() +``` + + + +You should see the following instruction +``` +Connect the controller board to the 'gripper' motor only and press enter. +``` + +As instructed, plug the gripper's motor. Make sure it's the only motor connected to the board, and that the motor itself is not yet daisy-chained to any other motor. As you press `[Enter]`, the script will automatically set the id and baudrate for that motor. + +
+Troubleshooting + + If you get an error at that point, check your cables and make sure they are plugged in properly: + + +If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB). +
+ +You should then see the following message: +``` +'gripper' motor id set to 6 +``` + +Followed by the next instruction: +``` +Connect the controller board to the 'wrist_roll' motor only and press enter. +``` + +You can disconnect the 3-pin cable from the controller board, but you can leave it connected to the gripper motor on the other end, as it will already be in the right place. Now, plug in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn't connected to any other one. + +Repeat the operation for each motor as instructed. + +> [!TIP] +> Check your cabling at each step before pressing Enter. For instance, the power supply cable might disconnect as you manipulate the board. + +When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm. + +#### Leader +Do the same steps for the leader arm. + + + +```bash +python -m lerobot.setup_motors \ + --teleop.type=so100_leader \ + --teleop.port=/dev/tty.usbmodem575E0031751 # <- paste here the port found at previous step +``` + + + +```python +from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig + +config = SO100LeaderConfig( + port="/dev/tty.usbmodem585A0076841", + id="my_awesome_leader_arm", +) +leader = SO100Leader(config) +leader.setup_motors() +``` + + + ## Step-by-Step Assembly Instructions ## Remove the gears of the 6 leader motors @@ -252,163 +412,6 @@ For the leader configuration, perform **Steps 1–23**. Make sure that you remov -## Configure the motors - -### 1. Find the USB ports associated with each arm - -To find the port for each bus servo adapter, run this script: -```bash -python lerobot/find_port.py -``` - - - - -Example output: - -``` -Finding all available ports for the MotorBus. -['/dev/tty.usbmodem575E0032081', '/dev/tty.usbmodem575E0031751'] -Remove the USB cable from your MotorsBus and press Enter when done. - -[...Disconnect corresponding leader or follower arm and press Enter...] - -The port of this MotorsBus is /dev/tty.usbmodem575E0032081 -Reconnect the USB cable. -``` - -Where the found port is: `/dev/tty.usbmodem575E0032081` corresponding to your leader or follower arm. - - - - -On Linux, you might need to give access to the USB ports by running: -```bash -sudo chmod 666 /dev/ttyACM0 -sudo chmod 666 /dev/ttyACM1 -``` - -Example output: - -``` -Finding all available ports for the MotorBus. -['/dev/ttyACM0', '/dev/ttyACM1'] -Remove the usb cable from your MotorsBus and press Enter when done. - -[...Disconnect corresponding leader or follower arm and press Enter...] - -The port of this MotorsBus is /dev/ttyACM1 -Reconnect the USB cable. -``` - -Where the found port is: `/dev/ttyACM1` corresponding to your leader or follower arm. - - - - -### 2. Set the motors ids and baudrates - -Each motor is identified by a unique id on the bus. When brand new, motors usually come with a default id of `1`. For the communication to work properly between the motors and the controller, we first need to set a unique, different id to each motor. Additionally, the speed at which data is transmitted on the bus is determined by the baudrate. In order to talk to each other, the controller and all the motors need to be configured with the same baudrate. - -To that end, we first need to connect to each motor individually with the controller in order to set these. Since we will write these parameters in the non-volatile section of the motors' internal memory (EEPROM), we'll only need to do this once. - -If you are repurposing motors from another robot, you will probably also need to perform this step as the ids and baudrate likely won't match. - -#### Follower - -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. - -For a visual reference on how to set the motor ids please refer to [this video](https://huggingface.co/docs/lerobot/en/so101#setup-motors-video) where we follow the process for the SO101 arm. - - - - -```bash -python -m lerobot.setup_motors \ - --robot.type=so100_follower \ - --robot.port=/dev/tty.usbmodem585A0076841 # <- paste here the port found at previous step -``` - - - -```python -from lerobot.common.robots.so100_follower import SO100Follower, SO100FollowerConfig - -config = SO100FollowerConfig( - port="/dev/tty.usbmodem585A0076841", - id="my_awesome_follower_arm", -) -follower = SO100Follower(config) -follower.setup_motors() -``` - - - -You should see the following instruction -``` -Connect the controller board to the 'gripper' motor only and press enter. -``` - -As instructed, plug the gripper's motor. Make sure it's the only motor connected to the board, and that the motor itself is not yet daisy-chained to any other motor. As you press `[Enter]`, the script will automatically set the id and baudrate for that motor. - -
-Troubleshooting - - If you get an error at that point, check your cables and make sure they are plugged in properly: - - -If you are using a Waveshare controller board, make sure that the two jumpers are set on the `B` channel (USB). -
- -You should then see the following message: -``` -'gripper' motor id set to 6 -``` - -Followed by the next instruction: -``` -Connect the controller board to the 'wrist_roll' motor only and press enter. -``` - -You can disconnect the 3-pin cable from the controller board, but you can leave it connected to the gripper motor on the other end, as it will already be in the right place. Now, plug in another 3-pin cable to the wrist roll motor and connect it to the controller board. As with the previous motor, make sure it is the only motor connected to the board and that the motor itself isn't connected to any other one. - -Repeat the operation for each motor as instructed. - -> [!TIP] -> Check your cabling at each step before pressing Enter. For instance, the power supply cable might disconnect as you manipulate the board. - -When you are done, the script will simply finish, at which point the motors are ready to be used. You can now plug the 3-pin cable from each motor to the next one, and the cable from the first motor (the 'shoulder pan' with id=1) to the controller board, which can now be attached to the base of the arm. - -#### Leader -Do the same steps for the leader arm. - - - -```bash -python -m lerobot.setup_motors \ - --teleop.type=so100_leader \ - --teleop.port=/dev/tty.usbmodem575E0031751 # <- paste here the port found at previous step -``` - - - -```python -from lerobot.common.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig - -config = SO100LeaderConfig( - port="/dev/tty.usbmodem585A0076841", - id="my_awesome_leader_arm", -) -leader = SO100Leader(config) -leader.setup_motors() -``` - - - ## Calibrate Next, you'll need to calibrate your robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.