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Reorganize assembly instructions setup before assembly (#2333)

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Motors should be set up before the arm is assembled. 

Moving the entire motor setup section before the part cleaning and assembly section.

Signed-off-by: Austin King <shout@ozten.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Austin King
2025-12-03 08:56:58 -08:00
committed by GitHub
parent e003108cf8
commit 89ae7813a7
1 changed files with 125 additions and 125 deletions
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docs/source/so101.mdx
+125 -125
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@@ -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
@@ -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.