drag = orbit · scroll = zoom

SO101 + Rail Controller

drag a slider → the real robot moves

connecting…
URDF calibration

Flip a joint if the model turns opposite the real arm; set zero° to match its rest angle. Changes preview live on the model. Save writes the config.

wrist camera
camera feed (when available)

Sliders are clamped to the calibrated limits. Joints stream to the Pi via send_action; the rail via x.pos. Live readback (gray) comes from get_obs. Torque must be enabled for joint motion; X must be homed before it will move.