From f24030d4d8e4af75ba905f12d2eb5a62e20de744 Mon Sep 17 00:00:00 2001 From: CharlesCNorton <135471798+CharlesCNorton@users.noreply.github.com> Date: Fri, 9 May 2025 05:04:25 -0400 Subject: [PATCH] Update 12_use_so101.md (#1081) Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> --- examples/12_use_so101.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/examples/12_use_so101.md b/examples/12_use_so101.md index 3f50b0b5..60e5e6ad 100644 --- a/examples/12_use_so101.md +++ b/examples/12_use_so101.md @@ -145,7 +145,7 @@ Reconnect the usb cable. #### Update config file Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py). -You will find something a class called `so101` where you can update the `port` values with your actual motor ports: +You will find a class called `so101` where you can update the `port` values with your actual motor ports: ```diff @RobotConfig.register_subclass("so101") @dataclass @@ -310,7 +310,7 @@ Remove all support material from the 3D-printed parts. ##### Wiring - Attach the motor controller on the back. -- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themself and stay in place. +- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themselves and stay in place. @@ -353,7 +353,7 @@ python lerobot/scripts/control_robot.py \ ``` ## Control your robot -Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain you how to train a neural network to autonomously control a real robot. +Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain to you how to train a neural network to autonomously control a real robot. **You'll learn to:** 1. How to record and visualize your dataset. @@ -517,7 +517,7 @@ If you have an additional camera you can add a wrist camera to the SO101. There ## Teleoperate with cameras -We can now teleoperate again while at the same time visualizing the camera's and joint positions with `rerun`. +We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`. ```bash python lerobot/scripts/control_robot.py \ @@ -528,7 +528,7 @@ python lerobot/scripts/control_robot.py \ ## Record a dataset -Once you're familiar with teleoperation, you can record your first dataset with SO-100. +Once you're familiar with teleoperation, you can record your first dataset with SO-101. We use the Hugging Face hub features for uploading your dataset. If you haven't previously used the Hub, make sure you can login via the cli using a write-access token, this token can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens).