PhysicalAI SO-101 Plugin

Physical AI Studio catalog definitions, hardware drivers, and URDF assets for single-arm and bimanual SO-101 robots, built for PhysicalAI.

Installation

uv add physicalai-so101-plugin

Installing the package registers SO101_Follower, SO101_Leader, BimanualSO101_Follower, and BimanualSO101_Leader with the Physical AI Studio robot catalog. It provides SO101, BimanualSO101, SO101Calibration, and SO101JointCalibration.

from physicalai_so101_plugin import BimanualSO101, SO101

left = SO101(port="/dev/ttyUSB0", calibration="left-calibration.json")
right = SO101(port="/dev/ttyUSB1", calibration="right-calibration.json")
bimanual = BimanualSO101(left=left, right=right)

URDF assets

This package vendors the Simulation/SO101 directory from TheRobotStudio/SO-ARM100 at revision fda892cba81032c46c40976a48c9ceadbf40a9ca.

from physicalai_so101_plugin import get_urdf_path

follower_urdf = get_urdf_path() / "so101-follower/so101_follower.urdf"
leader_urdf = get_urdf_path() / "so101-leader/urdf/so101_leader.urdf"
bimanual_follower_urdf = get_urdf_path() / "so101-follower/so101_bimanual_follower.urdf"
bimanual_leader_urdf = get_urdf_path() / "so101-leader/urdf/so101_bimanual_leader.urdf"

The bimanual models mount the left and right arms 0.4 m apart. Each model uses the matching role-specific single-arm mesh tree. Leader meshes live beside the URDFs under so101-leader/urdf/meshes/; leader descriptions include the leader handle and trigger meshes.

Bimanual examples

Calibration examples and a teleoperation recipe are bundled under examples/. Run the recipe from the repository root after editing the serial ports and calibration paths:

uv run physicalai run --config packages/physicalai-so101-plugin/examples/runtime/bimanual_teleop.yaml

Development

uv sync
uv run pytest packages/physicalai-so101-plugin/tests