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fixes to SO-100 readme (#600) 

Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
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examples/10_use_so100.md
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@ -1,25 +1,31 @@
This tutorial explains how to use [SO-100](https://github.com/TheRobotStudio/SO-ARM100) with LeRobot.
# Using the [SO-100](https://github.com/TheRobotStudio/SO-ARM100) with LeRobot
## Source the parts
## A. Source the parts
Follow this [README](https://github.com/TheRobotStudio/SO-ARM100). It contains the bill of materials, with link to source the parts, as well as the instructions to 3D print the parts, and advices if it's your first time printing or if you don't own a 3D printer already.
**Important**: Before assembling, you will first need to configure your motors. To this end, we provide a nice script, so let's first install LeRobot. After configuration, we will also guide you through assembly.
## Install LeRobot
## B. Install LeRobot
On your computer:
1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install):
```bash
mkdir -p ~/miniconda3
# Linux:
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
# Mac M-series:
# curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh -o ~/miniconda3/miniconda.sh
# Mac Intel:
# curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -o ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
~/miniconda3/bin/conda init bash
```
2. Restart shell or `source ~/.bashrc`
2. Restart shell or `source ~/.bashrc` (*Mac*: `source ~/.bash_profile`) or `source ~/.zshrc` if you're using zshell
3. Create and activate a fresh conda environment for lerobot
```bash
@ -36,23 +42,30 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
cd ~/lerobot && pip install -e ".[feetech]"
```
For Linux only (not Mac), install extra dependencies for recording datasets:
*For Linux only (not Mac)*: install extra dependencies for recording datasets:
```bash
conda install -y -c conda-forge ffmpeg
pip uninstall -y opencv-python
conda install -y -c conda-forge "opencv>=4.10.0"
```
## Configure the motors
## C. Configure the motors
Follow steps 1 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the use of our scripts below.
### 1. Find the USB ports associated to each arm
**Find USB ports associated to your arms**
To find the correct ports for each arm, run the utility script twice:
Designate one bus servo adapter and 6 motors for your leader arm, and similarly the other bus servo adapter and 6 motors for the follower arm.
#### a. Run the script to find ports
Follow Step 1 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I), which illustrates the use of our scripts below.
To find the port for each bus servo adapter, run the utility script:
```bash
python lerobot/scripts/find_motors_bus_port.py
```
#### b. Example outputs
Example output when identifying the leader arm's port (e.g., `/dev/tty.usbmodem575E0031751` on Mac, or possibly `/dev/ttyACM0` on Linux):
```
Finding all available ports for the MotorBus.
@ -64,7 +77,6 @@ Remove the usb cable from your DynamixelMotorsBus and press Enter when done.
The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751
Reconnect the usb cable.
```
Example output when identifying the follower arm's port (e.g., `/dev/tty.usbmodem575E0032081`, or possibly `/dev/ttyACM1` on Linux):
```
Finding all available ports for the MotorBus.
@ -77,13 +89,20 @@ The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0032081
Reconnect the usb cable.
```
Troubleshooting: On Linux, you might need to give access to the USB ports by running:
#### c. Troubleshooting
On Linux, you might need to give access to the USB ports by running:
```bash
sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1
```
**Configure your motors**
#### d. Update YAML file
Now that you have the ports, modify the *port* sections in `so100.yaml`
### 2. Configure the motors
#### a. Set IDs for all 12 motors
Plug your first motor and run this script to set its ID to 1. It will also set its present position to 2048, so expect your motor to rotate:
```bash
python lerobot/scripts/configure_motor.py \
@ -94,7 +113,7 @@ python lerobot/scripts/configure_motor.py \
--ID 1
```
Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
*Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).*
Then unplug your motor and plug the second motor and set its ID to 2.
```bash
@ -108,23 +127,25 @@ python lerobot/scripts/configure_motor.py \
Redo the process for all your motors until ID 6. Do the same for the 6 motors of the leader arm.
**Remove the gears of the 6 leader motors**
Follow step 2 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I). 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.
**Add motor horn to the motors**
Follow step 3 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I). For SO-100, you need to align the holes on the motor horn to the motor spline to be approximately 1:30, 4:30, 7:30 and 10:30.
#### b. Remove the gears of the 6 leader motors
Follow step 2 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=248). 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.
#### c. Add motor horn to all 12 motors
Follow step 3 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=569). For SO-100, you need to align the holes on the motor horn to the motor spline to be approximately 1:30, 4:30, 7:30 and 10:30.
Try to avoid rotating the motor while doing so to keep position 2048 set during configuration. It is especially tricky for the leader motors as it is more sensible without the gears, but it's ok if it's a bit rotated.
## Assemble the arms
## D. Assemble the arms
Follow step 4 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I). The first arm should take a bit more than 1 hour to assemble, but once you get use to it, you can do it under 1 hour for the second arm.
Follow step 4 of the [assembly video](https://youtu.be/FioA2oeFZ5I?t=610). The first arm should take a bit more than 1 hour to assemble, but once you get use to it, you can do it under 1 hour for the second arm.
## Calibrate
## E. Calibrate
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.
**Manual calibration of follower arm**
/!\ Contrarily to step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the auto calibration, we will actually do manual calibration of follower for now.
#### a. Manual calibration of follower arm
/!\ 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.
You will need to move the follower arm to these positions sequentially:
@ -139,8 +160,8 @@ python lerobot/scripts/control_robot.py calibrate \
--robot-overrides '~cameras' --arms main_follower
```
**Manual calibration of leader arm**
Follow step 6 of the [assembly video](https://www.youtube.com/watch?v=FioA2oeFZ5I) which illustrates the manual calibration. You will need to move the leader arm to these positions sequentially:
#### b. Manual calibration of leader arm
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:
| 1. Zero position | 2. Rotated position | 3. Rest position |
|---|---|---|
@ -153,7 +174,7 @@ python lerobot/scripts/control_robot.py calibrate \
--robot-overrides '~cameras' --arms main_leader
```
## Teleoperate
## F. Teleoperate
**Simple teleop**
Then you are ready to teleoperate your robot! Run this simple script (it won't connect and display the cameras):
@ -165,14 +186,14 @@ python lerobot/scripts/control_robot.py teleoperate \
```
**Teleop with displaying cameras**
#### a. Teleop with displaying cameras
Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
```bash
python lerobot/scripts/control_robot.py teleoperate \
--robot-path lerobot/configs/robot/so100.yaml
```
## Record a dataset
## G. Record a dataset
Once you're familiar with teleoperation, you can record your first dataset with SO-100.
@ -201,7 +222,7 @@ python lerobot/scripts/control_robot.py record \
--push-to-hub 1
```
## Visualize a dataset
## H. Visualize a dataset
If you uploaded your dataset to the hub with `--push-to-hub 1`, you can [visualize your dataset online](https://huggingface.co/spaces/lerobot/visualize_dataset) by copy pasting your repo id given by:
```bash
@ -214,7 +235,7 @@ python lerobot/scripts/visualize_dataset_html.py \
--repo-id ${HF_USER}/so100_test
```
## Replay an episode
## I. Replay an episode
Now try to replay the first episode on your robot:
```bash
@ -225,7 +246,7 @@ python lerobot/scripts/control_robot.py replay \
--episode 0
```
## Train a policy
## J. Train a policy
To train a policy to control your robot, use the [`python lerobot/scripts/train.py`](../lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
```bash
@ -248,7 +269,7 @@ Let's explain it:
Training should take several hours. You will find checkpoints in `outputs/train/act_so100_test/checkpoints`.
## Evaluate your policy
## K. Evaluate your policy
You can use the `record` function from [`lerobot/scripts/control_robot.py`](../lerobot/scripts/control_robot.py) but with a policy checkpoint as input. For instance, run this command to record 10 evaluation episodes:
```bash
@ -268,7 +289,7 @@ As you can see, it's almost the same command as previously used to record your t
1. There is an additional `-p` argument which indicates the path to your policy checkpoint with (e.g. `-p outputs/train/eval_so100_test/checkpoints/last/pretrained_model`). You can also use the model repository if you uploaded a model checkpoint to the hub (e.g. `-p ${HF_USER}/act_so100_test`).
2. The name of dataset begins by `eval` to reflect that you are running inference (e.g. `--repo-id ${HF_USER}/eval_act_so100_test`).
## More
## L. More Information
Follow this [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) for a more in-depth tutorial on controlling real robots with LeRobot.