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Developer Maps SpaceMouse 6DoF Controls to SO-101 Robot Arm via Inverse Kinematics

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A developer working on Vision-Language-Action (VLA) robotics has detailed how a SpaceMouse device can be used to teleoperate the SO-101 robot arm through LeRobot's software framework. Rather than sending raw input directly to individual motors, the SpaceMouse's six degrees of freedom are interpreted as end-effector movements in Cartesian space. LeRobot's inverse kinematics (IK) system then translates those target positions and orientations into the precise joint angles required by the SO-101's five positional servos. Notably, the default SpaceMouse plugin swaps the X and Y axes and inverts the sign of one axis, meaning the physical inputs do not map one-to-one to the robot's coordinate targets. The SO-101's sixth servo controls the gripper independently, leaving only five joints to handle full 6DoF end-effector control, which imposes physical limits on achievable positions.

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