Some of my other interests include educational technology, epistemology, cognitive science, brain-computer-interfaces, computer science, procedural modeling, and enjoy lurking around tools for thought communities. Away from the computer I enjoy; making music/art, bouldering, and swimming.

Next: Training custom policies and exploring spatial computing integration. #SOARM100 is an incredible entry point into robotics. LOE was relatively low and definitely recommend anyone exploring robotics check it out. Full build log: jacksonbarnes.net/posts/projec...

Used my custom Dawn #MCP server with Claude Code for project management: 8 tasks tracked, 3 documentation artifacts, Time tracking integration This was my first AI-assisted hardware project

Teleoperation successful: ~330Hz communication frequency between arms.
- Smooth, responsive control
- Leader arm movements replicated in real-time by follower
- Had some cable strain issue with follower arm that caused disconnections initially but repositioning fixed it

Calibration was a bit tricky. Had to sync leader/follower arms through 3 positions: zero, rotated, and rest. Hit a gripper range error (-84% instead of 0-100%) on the leader arm but solved it by repositioning to neutral mid-range.

Assembly took 1-2 hours per arm. The documentation is decent, but @phosphoai has an excellent detailed assembly walkthrough youtube.com/watch?v=PG_E... . Leader arm gets a hand controller end-effector vs gripper on follower arm

Parts needed: 12x STS3215 servo motors, 2x servo adapter boards for XIAO, plus various cables and connectors. Got everything from Seed Studio
. 3D printing took ~48 hours total on my Bambu Labs P1S with standard PLA