feat: add discovery service step to so101 codelab

.github/workflows/deploy.yml

@@ -11,15 +11,15 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Install global env tools
-        uses: jdx/mise-action@v2
+        uses: jdx/mise-action@v3
         with:
           log_level: debug
           mise_toml: |
             [tools]
-            node = "20"
+            node = "24"
             go = "latest"
 
       - name: Install claat

.github/workflows/test.yml

@@ -11,15 +11,15 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Install global env tools
-        uses: jdx/mise-action@v2
+        uses: jdx/mise-action@v3
         with:
           log_level: debug
           mise_toml: |
             [tools]
-            node = "20"
+            node = "24"
             go = "latest"
 
       - name: Install claat

site/.nvmrc

@@ -1 +1 @@
-20
+24

site/.tool-versions

@@ -1,2 +1,2 @@
-nodejs 22
+nodejs 24
 golang latest

site/viamguides/src/so101/so101.md

@@ -74,17 +74,39 @@ The SO-ARM101 communicates with your computer via USB connection. This section w
    - Use the provided USB cable to connect the SO-ARM101 control board to your computer
    - You should see indicator LEDs on the control board
    ![arm control board connected](./assets/arm_control_connected.jpeg)
-1. **Verify USB detection**:
-   - Check that the USB device is detected:
-     ```bash
-     ls /dev/tty*
-     ```
-   - Look for a device that appears when you connect the arm
-   ![list of serial device paths](./assets/list_serial_devices.png)
-1. **Check USB serial device**:
-   - You should see a device like `/dev/ttyUSB0` or `/dev/ttyACM0` on Linux, or `/dev/tty.usbmodem58CD1767051` (the part after "usbmodem" is a unique ID for that control board) on MacOS
-
-Note the path to that device on your computer, a.k.a "port". It will be used to configure your machine in the following steps.
+
+In the next step, you'll use a [Discovery service](https://docs.viam.com/operate/reference/services/discovery/) to automatically configure your components.
+
+<!-- ------------------------ -->
+
+## Automatically configure arm & gripper components
+Duration: 5
+
+Now you'll configure the discovery service that the SO-101 module provides.
+This searches your machine running viam-server for the serial port path used to communicate with the arm's control board you connected to in the previous step.
+
+### Add the discovery service
+
+1. Click the **+** icon in the left-hand menu and select **Component or service**.
+   ![add component or service](./assets/add_component_service.png)
+1. Select `discovery`, and find the `so101:discovery` model. This adds the `so101-arm` module for working with the SO-ARM101. Rename the default name to `discover-so101`.
+   ![add service](./assets/add_discovery.png)
+   ![name service](./assets/name_discovery.png)
+1. Notice adding this module adds the discovery service called `discover-so101`.
+1. Click **Save** in the top right to save and apply your configuration changes.
+1. Open the TEST panel at the bottom of the `discovery-so101` card to view the discovered components.
+   ![view components](./assets/view_discovery.png)
+1. Click "+ Add component" for the relevant resources you want to add to your machine:
+   - If you're building the arm from a kit, add the calibration sensor
+   - If you have a pre-assembled arm or calibrated before, add the arm and gripper components.
+1. Click **Save** in the top right to save and apply your configuration changes.
+1. You can now delete the discovery service.
+   ![remove discovery service](./assets/remove_calibration.png)
+
+
+If you have a pre-assembled arm or calibrated before, you can skip to the **Test your arm** step.
+
+Otherwise, continue to the next step to calibrate the motors on the arm.
 
 <!-- ------------------------ -->
 ## Configure calibration sensor
@@ -95,12 +117,14 @@ This is used in tandem with a [Viam App](https://docs.viam.com/operate/control/v
 
 ### Add the calibration sensor
 
+**These instructions are only necessary if you didn't use the discovery service in the previous step.**
+
 1. Click the **+** icon in the left-hand menu and select **Component or service**.
    ![add component or service](./assets/add_component_service.png)
 1. Select `sensor`, and find the `so101:calibration` model. This adds the `so101-arm` module for working with the SO-ARM101. Rename the default name to `calibration`.
    ![add sensor](./assets/add_calibration.png)
    ![name sensor](./assets/name_calibration.png)
-1. Notice adding this module adds the sensor hardware component called `calibration`. Add the following JSON object under the **CONFIGURE** section of the new corresponding panel.
+1. Notice adding this module adds the sensor component called `calibration`. Add the following JSON object under the **CONFIGURE** section of the new corresponding panel.
     Set the `calibration_file` to something descriptive for your arm, then set the `port` to the USB path connecting your arm to your computer.
    ```json
    {