BB SO-101

Beam Bots installer and operator tools for TheRobotStudio's SO-101 — a 6-DOF desktop robot arm built around Feetech STS3215 serial bus servos.

Features

• Single-command bootstrap — mix igniter.install bb_so101 scaffolds a complete robot module, supervisor wiring, and SIMULATE-aware boot options
• Full SO-101 topology — kinematic chain matches the official URDF; six revolute joints with calibrated limits and visual geometry
• Feetech wiring out of the box — composes bb_servo_feetech.install to set up controller, parameter bridge, and serial port config
• Operator mix tasks — interactive wizards for assigning servo IDs and calibrating mechanical zeroes
• Hardware-free development — run the generated project in simulation mode with SIMULATE=1

Installation

In an existing project:

mix igniter.install bb_so101

Or scaffold a new project with the dashboard included:

mix igniter.new my_robot --install bb_so101,bb_liveview

The Getting Started tutorial walks the rest of the way through powering up the arm, setting servo IDs, calibrating, and driving the dashboard.

Installer Options

Option	Default	Description
--robot	{App}.Robot	Module name for the generated robot module
--device	/dev/ttyUSB0	Default serial device path

The generated application.ex reads the device path from SIMULATE / your config and boots the robot in :kinematic simulation mode when SIMULATE=1 is set in the environment.

Operator Tasks

Once your project is generated and your servos are wired, two mix tasks help you bring the arm up:

# One-time: assign servo IDs 1-6 to each servo in turn
mix bb_so101.setup_servos /dev/ttyUSB0

# Per-arm: write mechanical-zero offsets so `0 rad` is the joint centre
mix bb_so101.calibrate /dev/ttyUSB0

See the Set Up Servo IDs and Calibrate the Arm how-to guides for detail.

Requirements

• Elixir ~> 1.19
• An SO-101 arm (or run in simulation mode)
• A USB-to-TTL serial adapter (Feetech URT-1 or compatible) for hardware mode
• 6–7.4 V DC power for the servos

Documentation

Tutorials

• Getting Started — bootstrap a project, set servo IDs, calibrate, and drive the dashboard

How-to Guides

• Set Up Servo IDs
• Calibrate the Arm
• Run in Simulation

Full API documentation is available at HexDocs.

Related Packages

• bb — core Beam Bots framework
• bb_liveview — Phoenix LiveView dashboard
• bb_servo_feetech — Feetech STS servo driver
• feetech — Feetech serial protocol library

Acknowledgements

• TheRobotStudio for the SO-ARM100 open-source design and reference URDF
• Feetech for the STS series servos