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# SO-101
In the steps below we explain how to assemble our flagship robot, the SO-101.
In the steps below, we explain how to assemble our flagship robot, the SO-101.
## Source the parts
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). 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). 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]"
```
## Step-by-Step Assembly Instructions
The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader however uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in table below.
The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however, uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in the table below.
| Leader-Arm Axis | Motor | Gear Ratio |
|-----------------|:-------:|:----------:|
@@ -30,12 +30,12 @@ The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader however u
| Gripper | 6 | 1 / 147 |
### 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.
### Joint 1
- Place the first motor into the base.
- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from bottom.
- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from the bottom.
- Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
- Install both motor horns, securing the top horn with a M3x6mm screw.
- Attach the shoulder part.
@@ -132,7 +132,7 @@ Remove all support material from the 3D-printed parts, the easiest way to do thi
## 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
@@ -233,12 +233,12 @@ 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>
@@ -258,12 +258,12 @@ 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.
@@ -299,7 +299,7 @@ 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">
@@ -327,7 +327,7 @@ follower.disconnect()
</hfoption>
</hfoptions>
The video below shows how to perform the calibration. First you need to move the robot to the position where all joints are in the middle of their ranges. Then after pressing enter you have to move each joint thru its full range of motion.
The video below shows how to perform the calibration. First you need to move the robot to the position where all joints are in the middle of their ranges. Then after pressing enter you have to move each joint through its full range of motion.
##### Calibration video
@@ -339,7 +339,7 @@ The video below shows how to perform the calibration. First you need to move the
#### Leader
Do the same steps to calibrate the Leader arm, run the following command of API example:
Do the same steps to calibrate the leader arm, run the following command or API example:
<hfoptions id="calibrate_leader">
<hfoption id="Command">