From 857496fe32badc1a34d4edb08f0ce43824de4ab0 Mon Sep 17 00:00:00 2001 From: Mishig Date: Mon, 7 Apr 2025 11:44:54 +0200 Subject: [PATCH] Update 10_use_so100.md; use diff syntax Use diff syntax to highlight lines that should be changed --- examples/10_use_so100.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md index 8fb6d3b5..795a85be 100644 --- a/examples/10_use_so100.md +++ b/examples/10_use_so100.md @@ -122,7 +122,7 @@ sudo chmod 666 /dev/ttyACM1 #### d. Update config file IMPORTANTLY: Now that you have your ports, update the **port** default values of [`SO100RobotConfig`](../lerobot/common/robot_devices/robots/configs.py). You will find something like: -```python +```diff @RobotConfig.register_subclass("so100") @dataclass class So100RobotConfig(ManipulatorRobotConfig): @@ -135,7 +135,8 @@ class So100RobotConfig(ManipulatorRobotConfig): leader_arms: dict[str, MotorsBusConfig] = field( default_factory=lambda: { "main": FeetechMotorsBusConfig( - port="/dev/tty.usbmodem58760431091", <-- UPDATE HERE +- port="/dev/tty.usbmodem58760431091", ++ port="{ADD YOUR LEADER PORT}", motors={ # name: (index, model) "shoulder_pan": [1, "sts3215"], @@ -152,7 +153,8 @@ class So100RobotConfig(ManipulatorRobotConfig): follower_arms: dict[str, MotorsBusConfig] = field( default_factory=lambda: { "main": FeetechMotorsBusConfig( - port="/dev/tty.usbmodem585A0076891", <-- UPDATE HERE +- port="/dev/tty.usbmodem585A0076891", ++ port="{ADD YOUR FOLLOWER PORT}", motors={ # name: (index, model) "shoulder_pan": [1, "sts3215"],