Video

Prerequisites

1. Own the SO-ARM101 Dual-Arm Robot. Buy here with Community Discount LYCHEEAI5
• WowRobo Robotics WowRobo Robotics Store
2. Install LeRobot library
• huggingface Installation
3. Follow LeRobot SO-ARM101 Tutorial
• huggingface SO-101
4. Isaac Sim 5.0 or Isaac Sim 4.5

Install here: Isaac Sim (+ Installation)

5. Isaac ROS

Isaac ROS - Installation

6. Clone my GitHub repository into the LeRobot repository


so-arm101-ros2-bridge

MuammerBay ⋅ 2 months ago

Step by Step Guide

Step 1: LeRobot Teleoperation Setup

• Permissions for physical SO-ARM101 USB ports (Linux)

sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1

• Command to run LeRobot teleoperation script (replace /home/lycheeai with your path)

cd /home/lycheeai/lerobot
conda activate lerobot
python -m lerobot.teleoperate \
    --robot.type=so101_follower \
    --robot.port=/dev/ttyACM0 \
    --robot.id=follower \
    --teleop.type=so101_leader \
    --teleop.port=/dev/ttyACM1 \
    --teleop.id=leader

Step 2: Clone my ROS2 WS GitHub Repo & Build/Install

so-arm101-ros2-bridge

MuammerBay ⋅ 2 months ago

git clone https://github.com/MuammerBay/so-arm101-ros2-bridge.git
cd so-arm101-ros2-bridge

• Contains:
• LeRobot library
• ROS2 workspace
• Isaac Sim USD File

• Go to ROS2 Workspace & colcon build

colcon build --packages-select jointstatereader

• Install ROS2 Workspace

source install/setup.bash

• Command to launch

python3 src/jointstatereader/jointstatereader/joint_state_reader.py

• Relay for Isaac Sim

ros2 run topic_tools relay /joint_states /isaac_joint_command

• Press Play in Isaac Sim if you haven’t already
• Verify

ros2 topic list

ros2 topic echo /joint_states --once

ros2 topic echo /isaac_joint_command --once

Step 3: Open Isaac Sim USD File and Play the physics simulation

• Launch Isaac Sim 5.0 (assuming isaacsim is the cloned repo name)
• Github - IsaacSim

cd ~/isaacsim/_build/linux-x86_64/release && ./isaac-sim.sh

• Or launch Isaac Sim 4.5 on stable version (assuming IsaacSim_4-5 is the installed folder name)

~/IsaacSim_4-5/isaac-sim.sh

• Open the USD File SO-ARM101-USD.usd located at: (replace /home/lycheeai with your path)

/home/lycheeai/lerobot/IsaacSim_USD/SO-ARM101-USD.usd

• Press Play for Physics + ROS2