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SO-101 Arm

A build-to-sim-to-real workflow: 3D printed components on my Bambu P1S, simulated in Isaac Sim, then validated on the real arm with hands-on testing.

3D Printing Simulation Real-world Testing

Overview

Build → simulate → test

This project is awesome, it was good experience working with inverse kinematics initially, using visual detection,and using isaac sim. Ultimately though I am just a sucker for robotic arms adn end effectors.

3D Printing on the Bambu P1S

Print workflow

I printed the SO-101 parts on my Bambu P1S, its always super easy, quick and reliable.

SO-101 parts arranged on the Bambu P1S print bed

3D printed SO-101 parts laid out for printing on the Bambu P1S.

Simulation in Isaac Sim

Isaac Sim environment used to simulate the SO-101 arm

Isaac Sim simulation and testing.

Why simulate

Testing and training cannot wait until it is built. Making sure there are no design flaws and creating pathing and getting it as crisp as possible are always the goal and isaac sim makes that possible

Real-world testing

Hardware validation

After printing and simulation, I tested the real arm, absolutely so awesome when it worked, but needs tons of work still!

Real-world test run of the arm.