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chore(docs): reorganize assembly instructions setup before assembly #2333

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250 changes: 125 additions & 125 deletions docs/source/so101.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -30,131 +30,6 @@ The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however,
| Wrist Roll | 5 | 1 / 147 |
| 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.

It is advisable to install one 3-pin cable in the motor after placing them before continuing assembly.

### 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 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.
- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
- Add the shoulder motor holder.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 2

- Slide the second motor in from the top.
- Fasten the second motor with 4 M2x6mm screws.
- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
- Attach the upper arm with 4 M3x6mm screws on each side.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 3

- Insert motor 3 and fasten using 4 M2x6mm screws
- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 4

- Slide over motor holder 4.
- Slide in motor 4.
- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 5

- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Gripper / Handle

<hfoptions id="assembly">
<hfoption id="Follower">

- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
- Attach the motor horns and again use a M3x6mm horn screw.
- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4"
type="video/mp4"
/>
</video>
</div>

</hfoption>
<hfoption id="Leader">

- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
- Attach the handle to motor 5 using 1 M2x6mm screw.
- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
- Attach the follower trigger with 4 M3x6mm screws.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4"
type="video/mp4"
/>
</video>
</div>

</hfoption>
</hfoptions>

## Configure the motors

### 1. Find the USB ports associated with each arm
Expand Down Expand Up @@ -340,6 +215,131 @@ leader.setup_motors()
</hfoption>
</hfoptions>

### 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.

It is advisable to install one 3-pin cable in the motor after placing them before continuing assembly.

### 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 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.
- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
- Add the shoulder motor holder.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 2

- Slide the second motor in from the top.
- Fasten the second motor with 4 M2x6mm screws.
- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
- Attach the upper arm with 4 M3x6mm screws on each side.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 3

- Insert motor 3 and fasten using 4 M2x6mm screws
- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 4

- Slide over motor holder 4.
- Slide in motor 4.
- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Joint 5

- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4"
type="video/mp4"
/>
</video>
</div>

### Gripper / Handle

<hfoptions id="assembly">
<hfoption id="Follower">

- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
- Attach the motor horns and again use a M3x6mm horn screw.
- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4"
type="video/mp4"
/>
</video>
</div>

</hfoption>
<hfoption id="Leader">

- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
- Attach the handle to motor 5 using 1 M2x6mm screw.
- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
- Attach the follower trigger with 4 M3x6mm screws.

<div class="video-container">
<video controls width="600">
<source
src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4"
type="video/mp4"
/>
</video>
</div>

</hfoption>
</hfoptions>

## Calibrate

Next, you'll need to calibrate your robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.
Expand Down