so-arm101-actuator 0.1.0

SO-ARM101 Actuator Protocol driver for robot-md-gateway. RPN-000000000002.

so-arm101-actuator

Actuator Protocol driver for the SO-ARM101 arm. RPN-000000000002 · pip install so-arm101-actuator

from so_arm101_actuator import SOArm101Actuator

actuator = SOArm101Actuator.from_default_port()  # /dev/ttyACM0 @ 1 Mbps
actuator.home()
actuator.move({"shoulder_pan": 0.3})
print(actuator.read_state())

Capabilities

• move(joint_positions, *, timeout_s=5.0) — drive named joints to target radians; blocks until in tolerance or timeout.
• home(*, timeout_s=10.0) — move to the configured zero pose.
• read_state() — snapshot positions + best-effort motor temperatures.

What this is

This is the first real actuator driver registered against the post-2026-05-09-reset RobotRegistryFoundation. It bridges Hugging Face / The Robot Studio's SO-ARM101 hardware to robot-md-gateway's Actuator Protocol via entry-point dispatch.

For a step-by-step install + register + run walkthrough, see the robot-md cookbook beat 8 (will land in Phase 3 of the roadmap).

For one operator's full setup story, see the Bob case study (also Phase 3).

Examples

python -m so_arm101_actuator.examples.wave
python -m so_arm101_actuator.examples.move_to_home
python -m so_arm101_actuator.examples.read_state

Architecture

Two layers:

• protocol.py — pure SCS/STS wire protocol on a serial.Serial-like.
• actuator.py — Actuator Protocol implementation; depends only on protocol.py.

This separation lets you swap the protocol layer (alternative servo lib, simulator) without touching capability code.

Hardware tests

SO_ARM101_HARDWARE=1 pytest tests/test_hardware.py -v

Skipped by default. Run on real hardware only.

License

Apache-2.0.