An open source robot lamp based on Apple's Elegnt, made by [Human Computer Lab]

This repository is an early work in progress. We published our progress early on as we believe early feedback leads to better design iteration. To contribute ideas, you're welcome to join our Discord.

LeLamp is being developed on two parallel tracks:

This version is for those who already own an SO-101 or SO-100 arm from The Robot Studio. We built it for quick prototyping.

3D files for modifications can be found in prints/modifications_for_so101/. You'll need a SO101 or SO100 for this modification or any STS3215 based robot. The modification is a replacement for the gripper on these arms, effectively reducing the arm DOF from 6 to 5.

Biggest thanks to Jennie and Lily for sponsoring the SO101 arms in this project. If you want to buy a kit at a discounted price, check out Seeed Studio

Currently in development. This version will be our main model in the future, where we'll build new interactive paradigms and even imitation learning or general policies for real world deployment.

You can view the live CAD model on OnShape

If you're using the SO10x arms, follow this to get LeLamp up and running.

If you're setting up the SO10x arms for the first time, best practice is to follow this tutorial first. There are 3 checkpoints you need to do:

• Motor Set Up
• Motor Calibration
• Teleoperation

After initial testing that the SO101 works. you can unscrew the gripper on the arm and start fitting the 3D printed lamp head. The 3D printed files are inside prints/modifications_for_so101/. You'll need to print all these files:

• MotorMount: We designed a twist snap mechanism to quickly iterate on different lamp head designs. This will be attached to the motor horn on the robot arm.
• LampHead: This is the lamp head to be attached to the motor mount through twist snap mechanism.
• CameraMount: Camera mount for global shutter usb cameras. If you don't have a camera, you don't need to print this.

To calibrate the arms, here is what you'll need to run. The process is similiar to how you'd set up the SO101 arm:

# For uv init
uv sync

# For finding usb port
uv run -m lerobot.find_port

# For LeLampFollower
uv run -m lerobot.calibrate \
    --robot.type=lelamp_follower \
    --robot.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
    --robot.id=lelamp # <- Give the robot a unique name

# For LeLampLeader
uv run -m lerobot.calibrate \
    --teleop.type=lelamp_leader \
    --teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
    --teleop.id=lelamp # <- Give the robot a unique name

To teleop the lamp, there are 2 methods.

LeLamp is compatible with LeRobot's teleoperate module.

uv run -m lerobot.teleoperate \
    --robot.type=lelamp_follower \
    --robot.port=/dev/tty.usbmodem58760431541 \
    --robot.id=lelamp \
    --teleop.type=lelamp_leader \
    --teleop.port=/dev/tty.usbmodem58760431551 \
    --teleop.id=lelamp

To use LeLamp, we provide a quick and easy to remember teleop method. First, you'll need to edit the config.json file in this repository to have your lamp's id and port.

# SO101 Arm Configuration
# Configuration file for leader and follower arm ports

arms:
  follower:
    port: "/dev/tty.usbmodem5A7A0178351" <- edit here
    id: "lelamp" <- edit here
    enabled: true

  leader:
    port: "/dev/tty.usbmodem5A7A0170321" <- edit here
    id: "lelamp" <- edit here
    enabled: true

# General settings
settings:
  calibration_timeout: 30 # seconds
  connection_timeout: 10 # seconds
  retry_attempts: 3

Then you only need to run our teleop module.

main.py contains a hand tracking demo that uses a PID loop to control the shoulder pan and wrist flex of the arm.

1. Install uv: pip install uv
2. Run: uv run main.py

Note: If you have trouble installing with GitLFS, try running export GIT_LFS_SKIP_SMUDGE=1

This project is actively being developed. Upcoming tasks:

More updates coming in the upcoming weeks!

This project is licensed under the GNU General Public License v3.0 - see the LICENSE file for details.