BB SO-101

Beam Bots installer and operator tools for TheRobotStudio's SO-101 — a 6-DOF desktop robot arm built around Feetech STS3215 serial bus servos.

Features

• Single-command bootstrap — mix igniter.install bb_so101 scaffolds a complete robot module, supervisor wiring, and SIMULATE-aware boot options
• Full SO-101 topology — kinematic chain matches the official URDF; six revolute joints with calibrated limits and visual geometry
• Feetech wiring out of the box — composes bb_servo_feetech.install to set up controller, parameter bridge, and serial port config
• Operator mix tasks — interactive wizards for assigning servo IDs and calibrating mechanical zeroes
• Hardware-free development — run the generated project in simulation mode with SIMULATE=1

Installation

In an existing project:

mix igniter.install bb_so101

Or scaffold a new project with the dashboard included:

mix igniter.new my_robot --install bb_so101,bb_liveview

The Getting Started tutorial walks the rest of the way through powering up the arm, setting servo IDs, calibrating, and driving the dashboard.

Installer Options

The generated application.ex reads the device path from SIMULATE / your config and boots the robot in :kinematic simulation mode when SIMULATE=1 is set in the environment.

Operator Tasks

Once your project is generated and your servos are wired, two mix tasks help you bring the arm up:

# One-time: assign servo IDs 1-6 to each servo in turn
mix bb_so101.setup_servos /dev/ttyUSB0

# Per-arm: write mechanical-zero offsets so `0 rad` is the joint centre
mix bb_so101.calibrate /dev/ttyUSB0

See the Set Up Servo IDs and Calibrate the Arm how-to guides for detail.

Requirements

• Elixir ~> 1.19
• An SO-101 arm (or run in simulation mode)
• A USB-to-TTL serial adapter (Feetech URT-1 or compatible) for hardware mode
• 6–7.4 V DC power for the servos

Documentation

Tutorials

• Getting Started — bootstrap a project, set servo IDs, calibrate, and drive the dashboard

How-to Guides

• Set Up Servo IDs
• Calibrate the Arm
• Run in Simulation

Full API documentation is available at HexDocs.

Related Packages

• bb — core Beam Bots framework
• bb_liveview — Phoenix LiveView dashboard
• bb_servo_feetech — Feetech STS servo driver
• feetech — Feetech serial protocol library

Acknowledgements

• TheRobotStudio for the SO-ARM100 open-source design and reference URDF
• Feetech for the STS series servos