SO-101 Controller

Overview

Run a MuJoCo simulation and stream optionnaly joint angles to the real robot servos. Project includes a simple inverse-kinematics solver and a serial driver for ST3215 servos.

Installation

Requires Python 3.10. Install dependancies with :

pip install -r requirements.txt

Run

python main.py --simulation

Project Organization

The project is devided in 3 parts :

• main.py : main program to launch with :

python main.py

or for MacOS :

mjpython main.py

• so101_driver : driver to control ST3215 motors (based on the ST3215 python package)

• ik.py : hard coded inverse kinematic class using MuJoCo data