SO-101 MoveIt ROS 2

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Plan arm movements with MoveIt and ROS 2

This SO-101 stack connects the arm to MoveIt 2 for planning and executing movements. It includes Gazebo simulation, an RViz control interface and leader-to-follower teleoperation, so you can check a planned movement in software before trying it on the physical arm.

Build it on Ubuntu 24.04 with ROS 2 Jazzy and calibrate each arm with LeRobot first. This is a recent source-based robotics project; follow its read-only hardware check and supervised first-run procedure. Custom name prefixes are not yet supported by the MoveIt and controller configuration.

Control the arm with a computer
MoveIt motion planning
Gazebo simulation
Leader-arm teleoperation

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SO-101 robot arms

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

SO-101 follower arm: ROS 2 Jazzy source build; requires LeRobot calibration

SO-101 leader arm: Leader teleoperation with a calibrated follower

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