lerobot_cpp

Linux C++ SDK for LeRobot SO-100/101 and other robots using Feetech's STS3215 Motors.

📌 About This Fork: This repository is a fork of SCServo_Linux limited to STS3215 with high-level robot classes and examples. For low-level protocol details and other motor series, please refer to the original repository.

Features

• High-Level Control: Dedicated SO101 class for 6-DOF robot control.
• Physical Units: Work directly with radians and millimeters.
• Smooth Motion: Integrated support for velocity, acceleration, and synchronized movement.
• Calibration: Interactive tools for setting home positions and joint limits.
• Optimized for Linux: Native C++17 implementation for x86_64 and ARM64.

Quick Start

1. Build the library

sudo apt-get update && sudo apt-get install build-essential cmake git -y
git clone https://github.com/martin-axt/lerobot_cpp.git
cd lerobot_cpp
mkdir build && cd build
cmake .. && make -j4

2. Calibrate the robot (Optional)

The joint limits and home positions can be set interactively using the calibration tool.

./lerobot_cpp_calibration /dev/ttyACM0

3. Run the Wave Example

To build and run the provided wave example:

# Check which port your robot is connected to and ensure it's writable
sudo chmod 666 /dev/ttyACM0

# From the build directory
./lerobot_cpp_example_SO101_Wave /dev/ttyACM0

Robot Examples

Example	Description
SO101_Home	Moves the robot to the calibrated 0 radian (midpoint) position.
SO101_Wave	Performs a soft "hello" waving animation.
SO101_Record	Logs current joint positions in real-time for manual teaching.
SO101_Calibration	Interactive tool to set EEPROM offsets and mechanical limits.

Documentation

• High-Level API: See include/lerobot_cpp/robots/SO101.h for the manipulator interface.
• Low-Level Protocol: This SDK is focused on the STS3215 series. For other models (SCS series, etc.), see the original SCServo_Linux repository.

License

This project is licensed under the MIT License - see the LICENSE file for details.