Robot Arm Series
Welcome to the robot arm series tutorials! Here you'll find complete guides for various open-source robotic arms and dexterous hands.
Product List
SO-ARM101
6-axis desktop open-source robotic arm, supporting LeRobot and other AI frameworks.
- SO-ARM101 Robotic Arm Tutorials
- SO-ARM101 Tutorial
- SO-ARM101 Assembly Guide
- SO-ARM101 Jetson Orin PyTorch Compatibility
- SO-ARM101 Wireless Teleoperation (ESP32-NanoCam Version)
- SO-ARM101 Bi-Arm (Dual Follower) Tutorial
- SoARM Series Servo Calibration Tool
SO-ARM101 Series
1. Environment Setup
- Step 1: Environment Setup (Ubuntu)
- Step 1: Environment Setup (Windows)
- Step 1: Environment Setup (macOS)
2. Serial Port Check
- Step 2: Serial Port Check (Ubuntu)
- Step 2: Serial Port Check (Windows)
- Step 2: Serial Port Check (macOS)
3. Arm Calibration
4. Teleoperation
5. Camera Teleop
- Step 5: Camera Teleoperation (Ubuntu)
- Step 5: Camera Teleoperation (Windows)
- Step 5: Camera Teleoperation (macOS)
6. Data Collection
- Step 6: Teaching & Recording a Dataset
- Step 6: Teaching & Recording a Dataset — Handshake 200
- Step 6: Viewing & Replaying a Dataset
- Step 6: Dataset Collection Notes
- Step 6: Hugging Face Account (Optional)
- Step 6: Upload Dataset to Hugging Face (Optional)
- Step 7 (Simulation): Collecting a Dataset — Lightwheel LeIsaac Teleoperation
7. Model Training
- Step 7: Training — Local Ubuntu
- Step 7: Training — Cloud GPU Setup
- Step 7: Training — wandb Curves
- Step 7: Training — Upload Model (Optional)
- Step 7: Training — Model Weights
- Step 7: Training — ACT Command
- Step 7: Training — pi0 Command
- Step 7: Training — pi0.5 Command
- Step 7: Training — pi0fast Command
- Step 7: Training — smolvla Command
- Step 7: Training — Diffusion Command
- Step 7: Training — WALL-OSS Command
- Step 7: Training — Training Command Line
- Step 7: Training — Parameter Tips
- Step 7: Training — Imitation Learning Algorithms
8. Model Inference
- Step 8: Inference — CLI Reference
- Step 8: Inference — Common Bugs
- Step 8: Inference — ACT Command
- Step 8: Inference — pi0 Command
- Step 8: Inference — pi0.5 Command
- Step 8: Inference — smolvla Command
- Step 8: Inference — Diffusion Command
- Step 8: Inference — WALL-OSS Command
- Step 8: Inference — NVIDIA DGX Spark
- Step 8: Inference — D-Robotics RDK S100
Basics
- Understanding LeRobot
- LeRobot Datasets on Hugging Face
- Model Training Resources
- SO-ARM100 Official 3D Print Files
- URDF Files and Reference Materials
- Recommended Camera Brackets and Mounts
Extras & Advanced
LeLab Tutorial
- 1 · Overview
- 2 · Install and run
- 3 · Connect and calibrate
- 4 · Teleoperation
- 5 · Record a dataset
- 6 · Train and run inference
- 7 · Troubleshooting ,#### MuJoCo Simulation Tutorial,- SO-ARM101 × MuJoCo Full Workflow Tutorial (Index),- 01 · Environment Setup,- 02 · Simulation Model Verification (MJCF Loading and Driving),- 03 · Real-Robot Connection and Calibration,- 04 · Keyboard Teleoperation,- 05 · Leader-Arm Digital Twin (Physical Arm Driving the Simulated Arm),- 06 · Data Recording and Replay,- 07 · Troubleshooting and Lessons Learned,- 08 · Roadmap,- 09 · Complete Usage Tutorial (Arm Bring-Up → Dataset → Watching Videos → Training → Deployment)
SO-ARM101 Robotic Arm 7-DOF Tutorial
- SO-ARM101 Robotic Arm 7-DOF Tutorial
- 1. Environment Setup
- 2. Replace Files (7-DOF Adaptation)
- 3. Serial Port Check
- 4. Arm Calibration
- 5. Teleoperation
- 6. Camera Teleop
- 7. Data Collection
- 8. Model Training
- Cloud GPU Training Environment Setup
- Training Command Line - ACT (Recommended for Beginners)
- Training Command Line - Diffusion
- Training Command Line - pi0.5
- Training Command Line - pi0 (Best Results)
- Training Command Line - pi0fast
- Training Command Line - smolvla (Recommended for Advanced Users)
- Upload the Model to HuggingFace (Optional)
- Imitation Learning Algorithms Supported by LeRobot
- Local Ubuntu Training
- Obtain the Model Weight File
- Training Parameter Recommendations
- View Real-Time Training Curves on wandb
- 9. Model Inference
AmazingHand
Open-source bionic dexterous hand, providing high-precision multi-finger operation capability.
- AmazingHand Interface Control
- AmazingHand Web Control
- AmazingHand Official Example
- AmazingHand TTL Debugging
AmazingHand
PWM Servo Debugging
- 01-GUI Visual Control
- 02-Gesture Tracking Tutorial
- 03-PWM Servo Version-User Manual
- 04-Serial Bus Servo Version-User Instructions
Gesture Tracking
- Linux (Ubuntu) One-Click Deployment and Run
- Windows One-Click Deployment and Run
- Mac One-Click Deployment and Run
Lekiwi
Fully open-source mobile robot cart, compatible with LeRobot imitation learning framework, supporting SO101 arm.
SO-ARM101 + AmazingHand Course
Complete workflow for the SO-ARM101 follower + AmazingHand: setup, calibration, teleoperation, data collection, model training and deployment (Windows / Linux tracks).
Linux
- Stage 1: Environment Setup (Linux)
- Stage 2: Hand & Arm Calibration (Linux)
- Stage 3: Teleoperation (Linux)
- Stage 4: Data Collection (Linux)
- Stage 5: Model Training (Linux)
- Stage 6: Model Deployment (Linux)
Windows
- Stage 1: Environment Setup (Windows)
- Stage 2: Hand & Arm Calibration (Windows)
- Stage 3: Teleoperation (Windows)
- Stage 4: Data Collection (Windows)
- Stage 5: Model Training (Windows)
- Stage 6: Model Deployment (Windows)
XLeRobot Tutorials
XLeRobot dual-arm mobile robot tutorials: environment setup, file deployment, and assembled/parts kit assembly.
- Tutorials Overview
- Environment Setup (macOS)
- Environment Setup (Ubuntu)
- Environment Setup (Windows)
- Move XLeRobot Files
- Assembled-Kit Assembly
- Parts-Kit Assembly
- XLeRobot Docker Tutorial — Jetson AGX Orin
- XLeRobot Docker Tutorial — Jetson Orin Nano
Technical Support
If you have any questions, please contact:
- 📧 Email: support@juxitech.com
- 💬 GitHub Issues: Feedback