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Manipulator

Open-source 5-DOF robotic arm for embodied AI research.

  • Frame: 2020 Aluminum Extrusions.
  • Motors: STS3215 Serial Bus Servos.
  • Software: LeRobot / Python. Hardware | Control

Usage

Setup

git clone https://github.com/shehiin/manipulator.git
cd manipulator/control/STServo_Python
pip install -r requirements.txt

Testing Servos

To manually test individual servos:

python stservo-env/sms_sts/test.py

Configuration

For changing servo IDs, refer to the official SO-100 documentation or use the included utility:

python stservo-env/sms_sts/change_id.py