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One weekend in: an autonomous "robot videographer" on an SO-101 (LeRobot) — it films and edits its own demo
Weekend project, one weekend in — lots still half-built: a 6-DoF SO-101 arm (Feetech STS3215 / LeRobot) with a wrist camera, driven by an agent that plans camera moves, films them, and stitches the edit. Sharing v1 — rough, but the loop works. The demo is a side-by-side: left is an external phone shot (manual), right is the arm's own wrist camera. The choreography — wake → framed "hero" pose → dolly/roll/tilt beats → rest — runs through a safety layer (soft joint limits + velocity cap + stop sentinel). A few things I hit that others might find useful: 🔧 Dead elbow servo, diagnosed by feel. Stiff to backdrive, idle temp 53°C vs ~38°C on the others = shorted/lossy winding. Swapped it, re-set the ID, recalibrated the joint. 📐 The jerky motion wasn't the servo or the mount. Braced the table and it still jerked — turns out it's STS3215 gear backlash (~0.87° measured by others) plus low-speed stick-slip. Confirmed stick-slip is speed-dependent: ~51 backward micro-ticks at 12°/s vs ~0 at 50°/s. ✅ The fix: dropped P_Coefficient 32 → 16 (LeRobot's own recommended value). Slow-speed judder went from ~43 stutter events/sweep to ~0 in a controlled A/B. Plus: keep recorded moves single-direction and faster. 🎯 No IK yet, so "orbits" drift. Leaned on framing-safe moves — roll about the optical axis, dolly, tilt — to keep the subject centered. The goal is reusability: clone the repo, build/attach the SO-101, and you can direct Claude to film your own demos. Still manual for now (external camera + initial framing/hero pose). Next up: better camera, longer scripts, closed-loop framing. As always, it's all open source — control lib, safety layer, calibration, and the motion/stitch scripts. I will organise it better once the project is complete 👉 https://github.com/kamalkantsingh10/dummie Happy to go deeper on the motion-streaming / backlash tuning if useful. submitted by /u/KamalSingh10 [link] [Kommentare] reddit.com · reddit.com
Weekend project, one weekend in — lots still half-built: a 6-DoF SO-101 arm (Feetech STS3215 / LeRobot) with a wrist camera, driven by an agent that plans camera moves, films them, and stitches the edit. Sharing v1 — rough, but the loop works. The demo is a side-by-side: left is an external phone shot (manual), right is the arm's own wrist camera. The choreography — wake → framed "hero" pose → dolly/roll/tilt beats → rest — runs through a safety layer (soft joint limits + velocity cap + stop sentinel). A few things I hit that others might find useful: 🔧 Dead elbow servo, diagnosed by feel. Stiff to backdrive, idle temp 53°C vs ~38°C on the others = shorted/lossy winding. Swapped it, re-set the ID, recalibrated the joint. 📐 The jerky motion wasn't the servo or the mount. Braced the table and it still jerked — turns out it's STS3215 gear backlash (~0.87° measured by others) plus low-speed stick-slip. Confirmed stick-slip is speed-dependent: ~51 backward micro-ticks at 12°/s vs ~0 at 50°/s. ✅ The fix: dropped P_Coefficient 32 → 16 (LeRobot's own recommended value). Slow-speed judder went from ~43 stutter events/sweep to ~0 in a controlled A/B. Plus: keep recorded moves single-direction and faster. 🎯 No IK yet, so "orbits" drift. Leaned on framing-safe moves — roll about the optical axis, dolly, tilt — to keep the subject centered. The goal is reusability: clone the repo, build/attach the SO-101, and you can direct Claude to film your own demos. Still manual for now (external camera + initial framing/hero pose). Next up: better camera, longer scripts, closed-loop framing. As always, it's all open source — control lib, safety layer, calibration, and the motion/stitch scripts. I will organise it better once the project is complete 👉 https://github.com/kamalkantsingh10/dummie Happy to go deeper on the motion-streaming / backlash tuning if useful. submitted by /u/KamalSingh10 [link] [Kommentare]
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