SO-ARM ROS 2

Self-hosted

Teach and replay arm movements through ROS 2

SO-ARM ROS 2 adds joystick and graphical arm control, leader-to-follower teleoperation and recording and replay of demonstrations. It also includes a MuJoCo simulation so you can inspect the software setup before connecting real motors.

This is an experimental robotics stack for ROS 2 Jazzy or Kilted on Linux. Configure the motor IDs, serial ports and controller mapping for your arm; its software stop is not a physical emergency stop, and the project warns that safety coverage is incomplete.

Teach it tasks from demonstrations
Control the arm with a computer
Teach-and-repeat motion
Leader/follower teleoperation
MuJoCo simulation

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SO-101 robot arms

SO-101 follower arm (partly) and SO-101 leader arm (partly)

SO-101 follower arm: Experimental stack; configure servos and serial port

SO-101 leader arm: Experimental dual-arm leader/follower mode

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