SO100 and SO101 Remote Example

Hardware requirements

Realsense Camera
so101 robotic arm

Download the 3D model of the SO100

[ -f "$HOME/Downloads/so100_urdf.zip" ] || (wget -O "$HOME/Downloads/so100_urdf.zip" https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip && unzip -o "$HOME/Downloads/so100_urdf.zip" -d "$HOME/Downloads/so100_urdf")

To get started

uv venv --seed
dora build no_torque.yml --uv

Make sure that both realsense and robotic arm connected

On linux, for the arm you can check connection with:

ls /dev/ttyACM*

This should show something like:

/dev/ttyACM0

Make sure to enable read with:

sudo chmod 777 /dev/ttyACM0

On linux, For the camera, make sure to have it well connected and check with:

ls /dev/video**

Result should be as follows:

/dev/video0  /dev/video2  /dev/video4  /dev/video6  /dev/video8
/dev/video1  /dev/video3  /dev/video5  /dev/video7  /dev/video9

To run the no torque demo:

dora run no_torque.yml --uv

If the placement of the virtual robot arm is wrong, you can move it using the so100_transform environment configuration.

To run the qwenvl demo:

dora run qwenvl.yml --uv

To run the qwenvl remote demo:

On a remote machine:

dora coordinator &
dora daemon --machine-id gpu

dora daemon --coordinator-addr <IP_COORDINATOR_ADDR>
dora start qwenvl-remote.yml --uv --coordinator-addr <IP_COORDINATOR_ADDR>

To run the qwenvl compression demo: