robotica-so101 simulates the SO-101 arm before a real-table test
The project simulates the SO-101 arm picking up and releasing objects before testing the movement on a real table.
robotica-so101 is a virtual copy of the SO-101 robotic arm that runs in the MuJoCo physics simulator. In it, the arm picks up a cube, a tennis ball, or a small pot and places it on a tray. The project also records the movements as training data and tests whether a plan works before a real motor is switched on.
For people planning to assemble the arm, the simulation makes it possible to try the task before using the real equipment. The plan is repeated with changes to the position and size of the objects, showing when a step fails. The project has not yet been connected to the real arm, and the Hiwonder HX servo driver’s operation in LeRobot has not been confirmed.
To get started, you need a computer running Linux, Python 3.10 or later, and git. The installer prepares the environment and downloads the SO-101 model. Then you can view a sample scene, record the movement, test a plan, and generate training episodes. Keep the simulation’s limits in mind: the real arm has not yet been tested, and a camera will be needed to locate objects in the real setup.
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