What this project is
A practical manipulation stack built around the SO100 robotic arm platform.
Why it matters
Manipulator reliability depends on clean interfaces between kinematics, calibration, and task-level control. This project is focused on that interface.
Architecture overview
- Joint-level communication and command interface.
- Forward/inverse kinematics routines.
- Calibration and repeatability checks.
- Task scripts for pick-place and waypoint tracking.
Current status
- Joint control interface stable.
- Calibration workflow established.
- Task-level scripts under active iteration.
Selected results
- Repeatable end-effector placement in constrained test routines.
Roadmap
- Extend IK handling near singular configurations.
- Add vision-guided waypoint experiments.