SO101 Showcase

This repository contains scripts for controlling and calibrating SO101 robotic arms, including teleoperation capabilities.

Repository Structure

SO101-Showcase/
├── find_port.sh          # Find the ports to which the robots are connected
├── enable_port.sh        # Enable the ports to which the robots are connected
├── calibrate_arm.py      # Calibrate SO101 arms (leader or follower)
├── teleoperate.py        # Teleoperate follower arm using leader arm
├── setup_motors.py       # Setup the motors of the arms
└── README.md             # This file

Scripts

setup_motors.py

Assign IDs to the motors of the SO101 arm (either leader or follower type) . Usage:

python setup_motors.py --port PORT --id NAME --arm_type TYPE

Arguments:

• --port, -p (required): Serial port identifier (e.g., USB0 for /dev/ttyUSB0)
• --id, -i (required): Unique identifier for the robot arm
• --arm_type, -a (required): Arm type - leader or follower

calibrate_arm.py

Calibrates a SO101 arm (either leader or follower type) by performing initial calibration routines.

Usage:

python calibrate_arm.py --port PORT --id NAME --arm_type TYPE

Arguments:

• --port, -p (required): Serial port identifier (e.g., USB0 for /dev/ttyUSB0)
• --id, -i (required): Unique identifier for the robot arm
• --arm_type, -a (required): Arm type - leader or follower

teleoperate.py

Enables real-time teleoperation of a follower SO101 arm controlled by a leader SO101 arm.

Usage:

python teleoperate.py --robot_port PORT1 --robot_id NAME1 --leader_port PORT2 --leader_id NAME2

Arguments:

• --robot_port, -rp (required): Serial port for follower robot (e.g., USB0)
• --robot_id, -ri (required): Unique identifier for follower robot
• --leader_port, -lp (required): Serial port for leader arm (e.g., USB1)
• --leader_id, -li (required): Unique identifier for leader arm

Features:

• Real-time action streaming from leader to follower
• Graceful interruption with Ctrl+C
• Automatic return to initial position on exit

Requirements

• Python 3.10+
• LeRobot library with SO101 support
• Appropriate USB/serial drivers for arm communication