Skip to content

Commit 42bf1e8

Browse files
pkooijaliberts
pkooij
and
aliberts
authored
Update tutorial (#1021)
Co-authored-by: Simon Alibert <[email protected]>
1 parent a75d009 commit 42bf1e8

18 files changed

+809
-26
lines changed

‎README.md

Lines changed: 22 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -23,21 +23,35 @@
2323
</div>
2424

2525
<h2 align="center">
26-
<p><a href="https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md">
27-
Build Your Own SO-100 Robot!</a></p>
26+
<p><a href="https://github.com/huggingface/lerobot/blob/main/examples/12_use_so101.md">
27+
Build Your Own SO-101 Robot!</a></p>
2828
</h2>
2929

3030
<div align="center">
31-
<img src="media/so100/leader_follower.webp?raw=true" alt="SO-100 leader and follower arms" title="SO-100 leader and follower arms" width="50%">
32-
33-
<p><strong>Meet the SO-100 – Just $110 per arm!</strong></p>
31+
<div style="display: flex; gap: 1rem; justify-content: center; align-items: center;" >
32+
<img
33+
src="media/so101/so101.webp?raw=true"
34+
alt="SO-101 follower arm"
35+
title="SO-101 follower arm"
36+
style="width: 40%;"
37+
/>
38+
<img
39+
src="media/so101/so101-leader.webp?raw=true"
40+
alt="SO-101 leader arm"
41+
title="SO-101 leader arm"
42+
style="width: 40%;"
43+
/>
44+
</div>
45+
46+
47+
<p><strong>Meet the updated SO100, the SO-101 – Just €114 per arm!</strong></p>
3448
<p>Train it in minutes with a few simple moves on your laptop.</p>
3549
<p>Then sit back and watch your creation act autonomously! 🤯</p>
3650

37-
<p><a href="https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md">
38-
Get the full SO-100 tutorial here.</a></p>
51+
<p><a href="https://github.com/huggingface/lerobot/blob/main/examples/12_use_so101.md">
52+
See the full SO-101 tutorial here.</a></p>
3953

40-
<p>Want to take it to the next level? Make your SO-100 mobile by building LeKiwi!</p>
54+
<p>Want to take it to the next level? Make your SO-101 mobile by building LeKiwi!</p>
4155
<p>Check out the <a href="https://github.com/huggingface/lerobot/blob/main/examples/11_use_lekiwi.md">LeKiwi tutorial</a> and bring your robot to life on wheels.</p>
4256

4357
<img src="media/lekiwi/kiwi.webp?raw=true" alt="LeKiwi mobile robot" title="LeKiwi mobile robot" width="50%">
@@ -51,7 +65,6 @@
5165

5266
---
5367

54-
5568
🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier to entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models.
5669

5770
🤗 LeRobot contains state-of-the-art approaches that have been shown to transfer to the real-world with a focus on imitation learning and reinforcement learning.

‎examples/10_use_so100.md

Lines changed: 12 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -445,18 +445,16 @@ For the leader configuration, perform **Steps 1–23**. Make sure that you remov
445445

446446
## E. Calibrate
447447

448-
Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position. This calibration is essential because it allows a neural network trained on one SO-100 robot to work on another.
448+
Next, you'll need to calibrate your SO-100 robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
449+
The calibration process is very important because it allows a neural network trained on one SO-100 robot to work on another.
449450

450-
#### a. Manual calibration of follower arm
451+
#### Manual calibration of follower arm
451452

452-
> [!IMPORTANT]
453-
> Contrarily to step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the auto calibration, we will actually do manual calibration of follower for now.
453+
You will need to move the follower arm to these positions sequentially, note that the rotated position is on the right side of the robot and you have to open the gripper fully.
454454

455-
You will need to move the follower arm to these positions sequentially:
456-
457-
| 1. Zero position | 2. Rotated position | 3. Rest position |
458-
| ------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------ |
459-
| <img src="../media/so100/follower_zero.webp?raw=true" alt="SO-100 follower arm zero position" title="SO-100 follower arm zero position" style="width:100%;"> | <img src="../media/so100/follower_rotated.webp?raw=true" alt="SO-100 follower arm rotated position" title="SO-100 follower arm rotated position" style="width:100%;"> | <img src="../media/so100/follower_rest.webp?raw=true" alt="SO-100 follower arm rest position" title="SO-100 follower arm rest position" style="width:100%;"> |
455+
| 1. Middle position | 2. Zero position | 3. Rotated position | 4. Rest position |
456+
| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
457+
| <img src="../media/so101/follower_middle.webp?raw=true" alt="SO-101 leader arm middle position" title="SO-101 leader arm middle position" style="width:100%;"> | <img src="../media/so101/follower_zero.webp?raw=true" alt="SO-101 leader arm zero position" title="SO-101 leader arm zero position" style="width:100%;"> | <img src="../media/so101/follower_rotated.webp?raw=true" alt="SO-101 leader arm rotated position" title="SO-101 leader arm rotated position" style="width:100%;"> | <img src="../media/so101/follower_rest.webp?raw=true" alt="SO-101 leader arm rest position" title="SO-101 leader arm rest position" style="width:100%;"> |
460458

461459
Make sure both arms are connected and run this script to launch manual calibration:
462460
```bash
@@ -467,12 +465,12 @@ python lerobot/scripts/control_robot.py \
467465
--control.arms='["main_follower"]'
468466
```
469467

470-
#### b. Manual calibration of leader arm
471-
Follow step 6 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=724) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
468+
#### Manual calibration of leader arm
469+
You will also need to move the leader arm to these positions sequentially:
472470

473-
| 1. Zero position | 2. Rotated position | 3. Rest position |
474-
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
475-
| <img src="../media/so100/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so100/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so100/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
471+
| 1. Middle position | 2. Zero position | 3. Rotated position | 4. Rest position |
472+
| ------------ |------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ |
473+
| <img src="../media/so101/leader_middle.webp?raw=true" alt="SO-100 leader arm middle position" title="SO-100 leader arm middle position" style="width:100%;"> | <img src="../media/so101/leader_zero.webp?raw=true" alt="SO-100 leader arm zero position" title="SO-100 leader arm zero position" style="width:100%;"> | <img src="../media/so101/leader_rotated.webp?raw=true" alt="SO-100 leader arm rotated position" title="SO-100 leader arm rotated position" style="width:100%;"> | <img src="../media/so101/leader_rest.webp?raw=true" alt="SO-100 leader arm rest position" title="SO-100 leader arm rest position" style="width:100%;"> |
476474

477475
Run this script to launch manual calibration:
478476
```bash

0 commit comments

Comments
 (0)