Control & Development
Back to Star Arm 102 · Versions and compatibility
Choose a control path
| Goal | Guide |
|---|---|
| Check connections and poses or use graphical controls | Web Control and Configuration |
| Read state and perform basic teleoperation in code | Python SDK |
| Data collection, imitation learning, and ACT | LeRobot Learning Path |
| Motion planning, robot integration, and simulation | ROS 2 / MoveIt / Gazebo |
| Control B601 with a 102 leader | reBot integration |
Web Control and Configuration
The current tool provides leader/follower connections, joint feedback, 3D pose display, real or virtual FL teleoperation, and trajectory recording and replay. LD captures pose only. See the tool's device permissions table for actions available on HD and FL.
Check mapping with a virtual follower first, then follow the guide to switch to real hardware. A reBot or A1Z virtual model in the tool does not establish real-robot driver support.
Python SDK
Open the Python Guide · View source code
Use this path for basic communication, pose reading, and leader/follower control. Check the example's supported models, actual ports, and zero references before running it. HD button functions must match the supplied hardware configuration.
ROS 2 / MoveIt / Gazebo
Open the ROS 2 Guide · View packages
The current guide uses ROS 2 Humble and covers RViz, MoveIt, Gazebo, and taught trajectories. Distinguish virtual demonstrations, physics simulation, and real drivers. An on-screen model moving does not confirm that the real arm is correctly connected or calibrated.
Starting the real driver may move the arm to zero. Check the workspace as instructed before running it. Use robot descriptions and simulation configurations from the corresponding repository version; printable CAD is not automatically a validated dynamics model.
Control reBot with a 102 leader
reBot uses a separate follower driver and integration parameters. Choose a guide for the B601 motor variant first:
Check the leader model, button configuration, joint mapping, and adapter versions. The Star Arm 102-FL example is not a B601 driver; changing the serial port alone is insufficient. HD support must be checked for the specific integration.