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Allow about 20 minutes.

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What you need

  • An SO-101 follower arm, connected by USB.
  • Two USB cameras: a side camera on a fixed mount and a wrist camera on the arm.
  • A computer for the arm and both cameras. A Raspberry Pi 5 works.
  • The Dreamscale CLI, signed in. See Quick start.

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1. Place the side camera

Put the side camera 60–80 cm from the arm, side-on, with the whole arm and workspace in frame. Use even lighting and a plain background. Lock exposure and white balance if your camera allows it.
Top and side views showing the side camera 60 to 80 cm from the SO-101, side-on, with the whole arm and workspace in frame

Side camera placement

Mount the wrist camera so it sees the gripper. Route its cable so no joint can pull it.

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2. Set up the arm and cameras

The first run installs SO-101 support. Then it finds the arm’s serial port and shows a preview of each camera so you can pick the side and wrist cameras.
On Linux, if the port is not found, add yourself to the dialout group: sudo usermod -aG dialout $USER, then log out and back in.

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3. Calibrate

Clear the table and follow the prompts to move each joint through its range.

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4. Check everything

This checks the port, calibration, and both cameras, and shows your side camera next to the reference framing.
The command ends with a ✓ line.
Optional: pose the arm where each task should start, then save it as home:

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5. Run a model

The arm will move. Clear the workspace, keep people and cables out of reach, and keep the power switch within reach.
  1. Press Enter to connect the arm.
  2. Type an instruction, for example pick up the red block and put it in the box.
  3. The arm moves to home and shows a preview of the first actions. Nothing moves yet.
  4. Press Enter to run. Press Ctrl+C to stop.
  5. The arm holds, returns home, and asks for the next instruction. Press Ctrl+C again to disconnect.
The arm keeps holding its pose after the command exits. Support it, then release the motors:

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Models

Run dreamscale models to see every model your organization can use.

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Useful options

See the CLI reference for every option. Stuck? See Troubleshooting.