Trained to pick up pens. Sometimes it gets ambitious and tries to grab
the table.
The Gist
It's basically an SO-100 but I made it out of metal because... well, I had some aluminum lying around.
Stats
Run all the standard LeRobot policies without much fuss.
- Motors: ST3215
- Construction: 20x20 Aluminum extrusions.
- Printed Parts: PLA/PETG (Anything which supports the heavy metal).
How to Build
1. Buy the motors.
2. Find some scrap 2020 extrusions.
3. Print the holders (Files in repo).
4. Assemble.
Inference
Software
It runs entirely on the LeRobot stack. Training happens on whatever GPU you can beg, borrow, or steal.
Teleoperation
I also wrote a custom teleoperation method using an Xbox controller to eliminate the need for a second "leader" robot arm. Using an additional robot just for teleop seemed wasteful.