dora/examples/so101/Readme.md

• SO101 Arm Control
• • Install Dependencies
  • Hardware Setup
  • • Single Arm Control (arm_gamepad_control.yml)
    • Leader-Follower Mode (leader_follower.yml)
    • Serial Port Configuration
• Troubleshooting
• • Serial Connection Issues
  • Gamepad Not Detected
• Safety Notes

SO101 Arm Control

This example provides gamepad control and leader-follower functionality for the SO-101 robotic arm.

Install Dependencies

install the required Python packages for rerun visualization (optional):

# Install the URDF loader for Rerun visualization
pip install git+https://github.com/dora-rs/rerun-loader-python-urdf

Hardware Setup

1. Connect your SO-101 arm(s) to your computer via USB/serial
2. Note the serial port names (e.g.,for linux /dev/ttyACM0, /dev/ttyACM1)
3. Connect your gamepad controller
4. Update the PORT environment variable in the YAML files

Single Arm Control (arm_gamepad_control.yml)

Control a single SO-101 arm with gamepad input and visualization:

dora build arm.yml
dora run arm.yml

Leader-Follower Mode (leader_follower.yml)

Use one arm as a leader to control another follower arm:

dora build leader.yml
dora run leader.yml

Serial Port Configuration

Update the PORT environment variable in the YAML files:

env:
  PORT: /dev/ttyACM0  # Change to your actual port

Troubleshooting

Serial Connection Issues

• Check that the arm is powered on and connected
• Verify the correct serial port in the YAML configuration
• Ensure proper permissions: sudo chmod +x PORT

Gamepad Not Detected

• Verify gamepad is connected and recognized by the system
• Test with jstest /dev/input/js0 (Linux)

Safety Notes

• Always ensure the arm has sufficient clearance before operation