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Getting Started

The SO101 Platform is a four-wheeled differential-drive mobile base with an SO101 arm mount, optional camera, and BLE teleop from your PC. After assembly, most people interact with the robot through the SO101 Platform 3D Viewer — connect a USB leader arm, pair over BLE, and drive the base, map joints, and view sensors in real time.

Physical robot Image and design attributed to @BIO-SS

3D Viewer app

The viewer is located at timrobot.github.io/SOBle. Before connecting in Chrome, first enable the Bluetooth flags in chrome://flags. In the steps below, we explain how to build the platform which is used in SOBle.

Source the Parts

To build the SO101 Platform, follow the SOBle README Parts Table. It contains the bill of materials with buy links, along with optional Raspberry Pi + camera parts as well. Print files assume roughly 1–2 kg of PLA. We highly recommend a printer with a bed size of at least 200mm x 200mm.

The SO101 follower arm (Feetech servos and controller) are purchased separately from the platform electronics in that table. You can find those parts here.

Assembly

Once parts are ready, follow the step-by-step Assembly Guide.

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Tutorials

#	Tutorial
1	Through the Looking Glass
2	Getting the pose of an AprilTag cube
3	Visualizing the pose of an AprilTag (optional)
4	Facing AprilTag using wheels
5	Facing AprilTag using arm
6	Moving arm to AprilTag cube (2D plane)
7	Grabbing AprilTag cube
8	Finding pose of camera relative to AprilTag landmark
9	Mapping AprilTag landmarks on 2D
10	Getting incremental position (IMU-wheel odometry)
11	Path planning
12	Adjusting position (2D) using TagSLAM-odometry fusion