ViCoS SO-ARM101 Resources

First install and source lerobot.

sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config virtualenv

git clone https://github.com/vicoslab/arm101.git
cd arm101

virtualenv .
source bin/activate

pip install lerobot 'lerobot[feetech]'

UDEV Setup

Copy 99-custom.rules from the udev_rules dir to /etc/udev/rules.d or run:

sudo cp udev_rules/99-custom.rules /etc/udev/rules.d/99-custom.rules

Then update udev:

sudo udevadm control --reload-rules && sudo udevadm trigger

When arms are plugged in they should now map to /dev/arm_XY, e.g.

• arm F2 -> /dev/arm_f2

• arm L4 -> /dev/arm_l4.

Lerobot Calibrations

Copy the existing calibration files from calibrations to lerobot's cache directory at ~/.cache/huggingface/lerobot/calibration/robots/so101_follower

Or run:

cp calibrations/* ~/.cache/huggingface/lerobot/calibration/robots/so101_follower/

Calibrations were created by plugging in both arms and running e.g.:

lerobot-calibrate --robot.type=so101_follower --robot.port=/dev/arm_f7 --robot.id=arm_f7

lerobot-calibrate --robot.type=so101_follower --robot.port=/dev/arm_l7 --robot.id=arm_l7

Run leader-follower teleop

Replace the arm IDs with your specific leader and follower arm and run:

lerobot-teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/arm_f7 \
    --robot.id=arm_f7 \
    --teleop.type=so101_leader \
    --teleop.port=/dev/arm_l7 \
    --teleop.id=arm_l7

Run keyboard teleop

Only plug in the follower robot, run python3 teleop.py, recalibrate and the robot should set itself into its default position.