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docs/source/so100.md
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# SO-100
In the steps below we explain how to assemble the SO-100 robot.
In the steps below, we explain how to assemble the SO-100 robot.
## Source the parts
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100/blob/main/SO100.md). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts,
and advice if it's your first time printing or if you don't own a 3D printer.
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100/blob/main/SO100.md). It contains the bill of materials, with a link to source the parts, as well as the instructions to 3D print the parts. And advise if it's your first time printing or if you don't own a 3D printer.
## Install LeRobot 🤗
To install LeRobot follow our [Installation Guide](./installation)
To install LeRobot, follow our [Installation Guide](./installation)
In addition to these instructions, you need to install the Feetech sdk:
In addition to these instructions, you need to install the Feetech SDK:
```bash
pip install -e ".[feetech]"
```
@@ -30,7 +29,7 @@ pip install -e ".[feetech]"
Follow the video for removing gears. You need to remove the gear for the motors of the leader arm. As a result, you will only use the position encoding of the motor and reduce friction to more easily operate the leader arm.
### Clean Parts
Remove all support material from the 3D-printed parts, the easiest way to do this is using a small screwdriver to get underneath the support material.
Remove all support material from the 3D-printed parts. The easiest way to do this is using a small screwdriver to get underneath the support material.
### Additional Guidance
@@ -76,7 +75,7 @@ This video provides visual guidance for assembling the arms, but it doesn't spec
</details>
**Step 7: Attach Shoulder Part**
- Route one wire to the back of the robot and the other to the left or in photo towards you (see photo).
- Route one wire to the back of the robot and the other to the left or towards you (see photo).
- Attach the shoulder part.
<img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_6.jpg" style="height:300px;">
@@ -201,7 +200,7 @@ This video provides visual guidance for assembling the arms, but it doesn't spec
<img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_26.jpg" style="height:300px;">
**Step 27: Mount Controller**
- Attach the motor controller on the back.
- Attach the motor controller to the back of the robot.
<div style="display: flex;">
<img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_27.jpg" style="height:300px;">
@@ -237,7 +236,7 @@ For the leader configuration, perform **Steps 1–23**. Make sure that you remov
<img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_32.jpg" style="height:300px;">
**Step 28: Mount Controller**
- Attach the motor controller on the back.
- Attach the motor controller to the back of the robot.
<div style="display: flex;">
<img src="https://huggingface.co/datasets/huggingface/documentation-images/blob/main/lerobot/so100_assembly_27.jpg" style="height:300px;">
@@ -246,7 +245,7 @@ For the leader configuration, perform **Steps 1–23**. Make sure that you remov
## Configure the motors
### 1. Find the USB ports associated to each arm
### 1. Find the USB ports associated with each arm
To find the port for each bus servo adapter, run this script:
```bash
@@ -339,12 +338,12 @@ 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.
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.
<details>
<summary>Troubleshooting</summary>
If you get an error at that point, check your cables and make sure they are plugged-in properly:
If you get an error at that point, check your cables and make sure they are plugged in properly:
<ul>
<li>Power supply</li>
<li>USB cable between your computer and the controller board</li>
@@ -364,12 +363,12 @@ 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.
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, as the power supply cable might disconnect as you manipulate the board.
> 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.
@@ -405,7 +404,7 @@ The calibration process is very important because it allows a neural network tra
#### Follower
Run the following command of API example to calbrate the follower arm:
Run the following command or API example to calibrate the follower arm:
<hfoptions id="calibrate_follower">
<hfoption id="Command">
@@ -433,11 +432,11 @@ follower.disconnect()
</hfoption>
</hfoptions>
We unified the calibration method for most robots, thus the calibration steps for this SO100 arm are the same as the steps for the Koch and SO101. First we have to move the robot to position where each joint is in the middle of its range, then we press `Enter`. Secondly we move all joints thru their full range of motion. A video of this same process for the SO101 as reference can be found [here](http://localhost:5173/so101#calibration-video)
We unified the calibration method for most robots. Thus, the calibration steps for this SO100 arm are the same as the steps for the Koch and SO101. First, we have to move the robot to the position where each joint is in the middle of its range, then we press `Enter`. Secondly, we move all joints through their full range of motion. A video of this same process for the SO101 as reference can be found [here](http://localhost:5173/so101#calibration-video)
#### Leader
Run the following command of API example to calbrate the leader arm:
Do the same steps to calibrate the leader arm, run the following command or API example:
<hfoptions id="calibrate_leader">
<hfoption id="Command">