SO-ARM101_Leader

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: SO-ARM101_Leader
  robot_uuid: e7cf3975-06a4-47de-a6c6-db9df0f17dff
  manufacturer: The Robot Studio / SO-ARM
  model: SO-ARM101 Leader
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - arm
  - teleop
  - leader-follower
  - so-arm101
  - lerobot
  description: 'SO-ARM101 Leader Arm — the leader (input) unit in a leader-follower
    teleoperation pair using Feetech STS3215 serial bus servos. The operator physically
    moves this arm; joint positions are streamed to a follower arm for imitation learning
    and teleoperation (e.g., HuggingFace LeRobot, ACT, Diffusion Policy). 6-DOF: shoulder_pan,
    shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper. No independent locomotion.
    Motor IDs: shoulder_pan=1, shoulder_lift=2, elbow_flex=3, wrist_flex=4, wrist_roll=5,
    gripper=6.

    '
  rrn: RRN-080494819323
  rrn_uri: rrn://community/robot/opencastor/so-arm101-leader/so_arm101_leader
agent:
  provider: anthropic
  model: claude-sonnet-4-5
  vision_enabled: false
  latency_budget_ms: 50
  safety_stop: true
  offline_provider: ollama
  confidence_gates:
  - scope: control
    min_confidence: 0.75
    on_fail: block
  - scope: safety
    min_confidence: 0.9
    on_fail: block
physics:
  type: arm
  dof: 6
  kinematics:
  - id: shoulder_pan
    length_mm: 50
    mass_g: 180
    axis: z
    limits_deg:
    - -180
    - 180
  - id: shoulder_lift
    length_mm: 130
    mass_g: 220
    axis: y
    limits_deg:
    - -120
    - 120
  - id: elbow_flex
    length_mm: 125
    mass_g: 180
    axis: y
    limits_deg:
    - -120
    - 120
  - id: wrist_flex
    length_mm: 60
    mass_g: 100
    axis: y
    limits_deg:
    - -90
    - 90
  - id: wrist_roll
    length_mm: 40
    mass_g: 80
    axis: z
    limits_deg:
    - -180
    - 180
  - id: gripper
    length_mm: 60
    mass_g: 120
    axis: y
    limits_deg:
    - 0
    - 90
drivers:
- link_id: shoulder_pan
  id: servo_1
  protocol: feetech
  model: STS3215
  port: /dev/ttyUSB0
  baud_rate: 1000000
  hardware_id: 1
  max_velocity_dps: 180
  torque_limit_pct: 60
- link_id: shoulder_lift
  id: servo_2
  protocol: feetech
  model: STS3215
  port: /dev/ttyUSB0
  baud_rate: 1000000
  hardware_id: 2
  max_velocity_dps: 120
  torque_limit_pct: 80
- link_id: elbow_flex
  id: servo_3
  protocol: feetech
  model: STS3215
  port: /dev/ttyUSB0
  baud_rate: 1000000
  hardware_id: 3
  max_velocity_dps: 150
  torque_limit_pct: 70
- link_id: wrist_flex
  id: servo_4
  protocol: feetech
  model: STS3215
  port: /dev/ttyUSB0
  baud_rate: 1000000
  hardware_id: 4
  max_velocity_dps: 200
  torque_limit_pct: 60
- link_id: wrist_roll
  id: servo_5
  protocol: feetech
  model: STS3215
  port: /dev/ttyUSB0
  baud_rate: 1000000
  hardware_id: 5
  max_velocity_dps: 200
  torque_limit_pct: 60
- link_id: gripper
  id: servo_6
  protocol: feetech
  model: STS3215
  port: /dev/ttyUSB0
  baud_rate: 1000000
  hardware_id: 6
  max_velocity_dps: 180
  torque_limit_pct: 50
connection:
  type: serial
  port: /dev/ttyUSB0
  baud_rate: 1000000
  reconnect_interval_ms: 500
network:
  telemetry_stream: true
  sim_to_real_sync: false
  allow_remote_override: false
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - arm
  - teleop
  - chat
  enable_mdns: false
  enable_jwt: false
safety:
  physical_estop: false
  force_torque_sensors: false
  sil_level: none
  payload_kg: 0.1
  max_joint_velocity_dps: 200
  estop_on_startup: false
  local_safety_wins: true
  emergency_stop_distance: 0.4
  estop_bypass_rate_limit: true
  watchdog:
    timeout_s: 10
notes:
  motor_ids: 'shoulder_pan=1, shoulder_lift=2, elbow_flex=3, wrist_flex=4, wrist_roll=5,
    gripper=6

    '
  role: 'LEADER arm only — this config is for the human-operated input arm. Deploy
    a separate so_arm101_follower.rcan.yaml on the follower unit. Teleoperation stream:
    joint positions broadcast at ~50Hz to follower.

    '
  lerobot_setup: "Compatible with HuggingFace LeRobot for data collection and policy\
    \ training. Install: pip install lerobot Calibrate servos before first use:\n\
    \  python -m lerobot.scripts.control_robot calibrate --robot-path so_arm101\n\
    Record dataset:\n  python -m lerobot.scripts.control_robot record --robot-path\
    \ so_arm101 \\\n    --repo-id my_dataset --num-episodes 50\n"
  hardware:
    servos: 6× Feetech STS3215 (30kg·cm, magnetic encoder, RS-485)
    interface: Feetech USB-RS485 adapter or SCServo SDK board
    supply: 12V 3A (regulated) for all servos
    build_guide: https://github.com/TheRobotStudio/SO-ARM100
tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: anthropic
  slow_model: claude-sonnet-4-5
  planner_interval: 10
agent_roster:
- id: nav_specialist
  provider: ollama
  model: gemma3:4b
  scope: nav
- id: chat_specialist
  provider: anthropic
  model: claude-sonnet-4-5
  scope: chat
geofence:
  enabled: false
  boundary:
    type: none
reactive:
  min_obstacle_m: 0.3
  fallback_provider: ollama
cameras:
  main:
    type: http
    url: http://127.0.0.1:8765/snapshot
hardware_safety:
  physical_estop: false
  hardware_watchdog_mcu: false
p66:
  enabled: true
  loa_enforcement: true
  consent_required: true
  manifest:
    estop_qos_bypass: true
consent:
  required: true
  mode: explicit
  scope_threshold: control
security:
  replay_protection:
    enabled: true
    window_s: 30
  signing:
    enabled: false
    algorithm: Ed25519
loa:
  enforcement: true
  min_loa_for_control: 1
human_identity:
  loa_required: 1
transport:
  supported:
  - http
  - mqtt
  constrained_enabled: false
multimodal:
  enabled: true
  max_chunk_bytes: 1048576
offline:
  enabled: true
  fallback_provider: ollama
r2ram:
  scopes:
  - discover
  - status
  - chat
  - control
  - safety
federation:
  enabled: true
  consent_bridge: false