Developer adds record-and-replay to the SO-101 robot arm with ROS 2, MCAP and Foxglove
kamathsblog · x · 2026-11-15
Robotics developer Aditya Kamath built a ROS 2 take on LeRobot's record-and-replay for the open-source 5-DoF SO-101 arm, publishing the writeup on Foxglove's blog. Motions can be recorded by hand-guiding the arm or via teleoperation, stored as plain MCAP ROS bags, and replayed through the same collision-checked path teleop uses. Since recordings are standard MCAP files, they open directly in Foxglove, where the author used Comparison Mode to overlay real-arm replays against mock-mode simulations. Part of an ongoing series covering the build, mock-mode simulation, IK-based teleop, and self-collision checking.
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