Chris

Building & debugging an SO-101 robot arm with AI agents · depth cameras, MuJoCo · PC repair · Almere 🇳🇱

[Chris @chrisdutch81]

My SO-101 sorting wall plugs and screws out of a messy pile 🔩

33 grasps, misses included. ~13 plugs and 9 screws made it into the tray.

Twice the wrist cam said "success" while the tray hadn't changed. The top camera caught it.

Built with @LeRobotHF + Claude Opus 5.5

[Chris @chrisdutch81]

@marurlemo A concrete number on that gap from my SO-101: after self-calibration the MuJoCo twin matches the cameras within 1-2 px, but the arm model is still ~8 mm off near the table. Found it by touching the board and checking against the depth camera. https://t.co/7XMwgNBgzq

[Chris @chrisdutch81]

I set up an SO-101 arm and 3 cameras. Claude Opus calibrates it all itself (lenses, camera poses, joint zeros) and rebuilds the scene in MuJoCo.

Tags match within 1-2 px. In a real grasp replay, the sim gripper stops at 2229, the real one at 2230.

#robotics #MuJoCo #sim2real

[Chris @chrisdutch81]

@aaronneman Getting the twin right is half of it. My SO-101 calibrated itself with an AprilTag card (lenses, 3 camera poses, joint zeros) and Claude Opus rebuilt the scene in MuJoCo: tags within 1-2 px, sim gripper stalls at 2229 vs 2230 real. Video: https://t.co/7XMwgNBOoY

[Chris @chrisdutch81]

I set up an SO-101 arm and 3 cameras. Claude Opus calibrates it all itself (lenses, camera poses, joint zeros) and rebuilds the scene in MuJoCo.

Tags match within 1-2 px. In a real grasp replay, the sim gripper stops at 2229, the real one at 2230.

#robotics #MuJoCo #sim2real

[Chris @chrisdutch81]

@pwnies wow my 5 year old daughter loves to play it!

[Chris @chrisdutch81]

I set up an SO-101 arm and 3 cameras. Claude Opus calibrates it all itself (lenses, camera poses, joint zeros) and rebuilds the scene in MuJoCo.

Tags match within 1-2 px. In a real grasp replay, the sim gripper stops at 2229, the real one at 2230.

#robotics #MuJoCo #sim2real

[Chris @chrisdutch81]

@lukas_m_ziegler @NVIDIARobotics @m_wulfmeier @nomagicAI Agree. Mine spent a whole day on one boring task: plugs and screws out of a messy pile. The misses taught me the most

[Chris @chrisdutch81]

@zecicc Cool! I keep a MuJoCo twin of my SO-101 too. The real arm still finds ways to surprise me, like knocking over a block it just stood up

[Chris @chrisdutch81]

@IlirAliu_ Building it is half the fun, calibrating it is the other half. Mine needed a 10 mm pen-tip fix before it drew 140 and 155 mm spot on

[Chris @chrisdutch81]

@LeRobotHF Mine just spent a day sorting wall plugs and screws out of a messy pile. 33 grasps, misses included 🔩

[Chris @chrisdutch81]

@TatBanerjee @joncphillips I cloned subscriptions, then learned how they work and got respect for them, which I didnt had before. After that I am glad to pay for it, because I learned how the price is build.

[Chris @chrisdutch81]

@josephflaherty omg

[Chris @chrisdutch81]

@maxkalashnikoff Its the trap you only think about you want to do all things to make money. I was thee for years. Start from how can I save money for a company and solve their problems. If they can save 1000 a month by giving you 100. And businesses pay easier because its just spending

[Chris @chrisdutch81]

@JanGold_ Funny your tweets start to sound like the tweets in the ICO boom from 2017. Didnt read it but a lot of ico project didnt had a usecase for an token

[Chris @chrisdutch81]

@KoornstraBonno @GKBoris Zelfs ga je demonstreren veranderd er niks. Demonstratie is gewoon dat ze je geven, en dat je denkt dat het iets doet. Zelfde als even geld naar afrika storten om even van je aangeprate schuld gevoel af te zijn.

[Chris @chrisdutch81]

@StefanMaier @MetaQuestVR RENEGADE hihi, this is so cool. Was always my dream when I was young, what if you could play a unit or walk trough the streets in sim city 2000

[Chris @chrisdutch81]

@JuanOwll @MitchellStooks @grok @TheMattBerman @peter51888206 @StealAds Yes exactly I learn from this too, thank you

[Chris @chrisdutch81]

@unixpickle Some weeks ago I had my so101 with sol high to put cubes in a bin, and after a few hours it got it sometimes working. But with astra its almost magical. Also your repo really helped!

[Chris @chrisdutch81]

@unixpickle Got it optimising itself.

[Chris @chrisdutch81]

@suited_monk @marcvanderchijs Exactly! Just enjoy the ride and work on self realisation. The ego just wants salvation in the future never NOW

[Chris @chrisdutch81]

@cherry_mx_reds yes depleted in 4 hours even if I switch to terra or sol