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Adding Waveshare ST3215 Servo Support to LeRobot – Our All-Nighter Journey (Team: The Nerd For That)

We’re Team The Nerd For That (a.k.a. thenerdforthat) – a father-daughter duo who took on the challenge of integrating the Waveshare ST3215 servos into the LeRobot library. Over the course of 24+ intense hours (from 6am to 6am!), we dove deep into Python, hardware protocols, and the LeRobot framework to create a new motorbus class and robot class that could support these lesser-documented servos.

This video is a glimpse into our journey:

Extending the LeRobot motorbus system

Debugging the quirks of the ST3215 protocol

Fighting sleep and code fatigue

And most importantly, learning and building together


We didn’t quite finish everything in time, but we got so close—and we’re excited for of how far we came in such a short time. We hope this helps others trying to use these motors with LeRobot and shows that even small teams with big coffee mugs can make progress on tough problems.

Thanks for watching, and good luck to everyone in the competition!

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