You can control your robot arm:

  • using your keyboard
  • through the HTTP API
  • with the Meta Quest app
  • using a leader arm

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How to control the SO-100 with a keyboard?

Use phosphobot to control your SO-100 robot arm with your keyboard, using the arrow keys to move the robot arm in the desired direction.

Go to localhost in your web browser to access the phosphobot dashboard. Go to Keyboard Control. Click on the Start robot button to start controlling the robot arm with your keyboard. Click on the Stop robot button to stop controlling the robot arm with your keyboard.

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Send your first commands to the API

Once your control module is connected to your home WiFi, you can send your first command to the robot arm.

Make sure the robot is well fixed and the area around is clear before sending any command.

  1. Go to the interactive API docs of the control module at phosphobot.local/docs. This page lets you send commands to the robot arm.

  2. Trigger the /move/init endpoint to initialize the robot (click Try it out and then press Execute).

  3. Your robot arm moves to the default position. It’s alive! 🎉

  4. Now, you can call the /move/absolute endpoint to move the robot to a specific position. The distances are in centimeters, and the angles in degrees.

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Meta Quest app

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Set up your Meta Quest app

The phospho dev kit is delivered with a Meta Quest app for teleoperation. In this section, we will set up the app on your Meta Quest headset.

  1. After purchasing your phospho dev kit, you’ll receive an email invitation to the Meta Alpha program of the phospho teleop app. Follow the email instructions to link your Meta account to the Alpha program.

  2. Make sure your Meta Quest headset is turned on and connected to WiFi. Once you’ve linked your account, the Meta Quest will automatically download the app. This can take a moment.

The Meta Quest connects to the Teleoperation server through a shared WiFi connection.
  1. Open the phospho teleop app from the library. Once downloading is done, you can open the software library on the Meta Quest. In the list of All apps, you’ll see the phospho teleop app. This app is automatically updated with the latest releases.

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Use the Meta Quest app

Make sure the Meta Quest is connected to the same WiFi that the computer running the phosphobot server.

Connect to the dev kit through WiFi in the phospho Meta Quest app.

  1. In the Meta Quest, open the phospho teleop application. You should see a screen displaying phosphobot along with the server ping. Click the Connect button using the Trigger Button.

  1. After connecting, you should see the main camera feed if a camera is connected. Move the windows with the Grip button to organize your space.

  1. Press A once to start teleoperation and begin moving your controller.
    • The robot will naturally follow the movement of your controller. Press the Trigger button to close the gripper.
    • Press A again to stop the teleoperation. The robot will stop.

You just teleoperated your robot arm! 🎉

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Using a leader arm

You do not need a leader arm to use the Meta Quest app.

But if you have a leader arm, we offer some basic support.

  1. Plug the leader arm and run the server with the special flag (replace USB_PORT with the actual usb port of the device. Run phosphobot info to get it.)
sudo phosphobot serve --leader-arm=<USB_PORT>

  1. Calibrate the leader arm the same way you calibrated the robot arm.

  2. Then use the endpoint /move/mimick to control the robot arm

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What’s next?

Record a dataset

How to record a dataset with your robot

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