SO-101 quickstart

This guide assumes you have a physical SO-101 arm connected over USB serial. For a no-hardware run, see the simulation guide.

1. Setup (one-time)

From the repo root:

bash scripts/setup-from-source.sh

2. Check environment and ports

cli/rfx.sh doctor-so101

Verifies:

Python / uv availability
Detected serial ports
torch, yaml, rfx, and native rfx._rfx extension imports

3. Setup motor IDs and baud (first time)

Normalize IDs and set baud

cli/rfx.sh so101-setup --normalize-ids --set-baud-1m

Fallback if uv is unstable

.venv/bin/python scripts/so101-setup.py --normalize-ids --set-baud-1m

4. Run the demo

cli/rfx.sh so101-demo --port auto

cli/rfx.sh so101-demo --port /dev/ttyACM0

uv run --python 3.13 python rfx/examples/so101_quickstart.py --port auto

The demo connects to the SO-101 through the core robot primitive, resets to home, runs a gentle sinusoidal motion, and returns home on exit.

Bimanual setup (two arms)

Default bimanual config: rfx/configs/so101_bimanual.yaml.

cli/rfx.sh so101-bimanual

Override the config directly:

uv run --python 3.13 rfx/examples/teleop_record.py \
  --config rfx/configs/so101_bimanual.yaml

Export formats during teleop

uv run --python 3.13 rfx/examples/teleop_record.py \
  --config rfx/configs/so101_bimanual.yaml \
  --export-format lerobot \
  --lerobot-repo-id your/repo

uv run --python 3.13 rfx/examples/teleop_record.py \
  --config rfx/configs/so101_bimanual.yaml \
  --export-format mcap

uv run --python 3.13 rfx/examples/teleop_record.py \
  --config rfx/configs/so101_bimanual.yaml \
  --export-format both \
  --lerobot-repo-id your/repo

Minimal Python API

from rfx.robot import lerobot

robot = lerobot.so101(port="/dev/ttyACM0")
robot.reset()
obs = robot.observe()
robot.disconnect()

Dataset collection

Collect directly into a LeRobot dataset:

rfx record \
  --repo-id your-org/so101-demos \
  --robot so101 \
  --episodes 5 \
  --duration 30

Get started

Concepts

Guides

SO-101 quickstart

1. Setup (one-time)

2. Check environment and ports

3. Setup motor IDs and baud (first time)

4. Run the demo

Bimanual setup (two arms)

Export formats during teleop

Minimal Python API

Dataset collection

​1. Setup (one-time)

​2. Check environment and ports

​3. Setup motor IDs and baud (first time)

​4. Run the demo

​Bimanual setup (two arms)

​Export formats during teleop

​Minimal Python API

​Dataset collection

1. Setup (one-time)

2. Check environment and ports

3. Setup motor IDs and baud (first time)

4. Run the demo

Bimanual setup (two arms)

Export formats during teleop

Minimal Python API

Dataset collection