Day 35/365 of robot learning. I finally got @dreamlabs_ai's Dream-1 api working on my single SO-101 arm, and the next step is trying to make it build a sandwich! I also got the full agentic workflow working. Deepgram handles voice input, my Claude Code agent breaks down instructions into smaller tasks, and Dream-1 executes the robot actions. I'll be going out to buy ingredients tomorrow to try making a sandwich, so hopefully I'll have a video out soon! I also ran into a lot of issues during setup. My Claude Code agent couldn't figure out how to get Dream-1 working out of the box with the mcp (I think it was partly my agent's fault as described in point 1), and it took a lot of debugging. Here are a few things I had to fix, so hopefully this saves everyone else some time: 1) Use Dream's official setup instead of letting your agent build a custom runner. I think my agent built its own because it was relying on older information from when Dream didn't support single SO-101 arms. 2) Double-check joint calibration. 3) Try to match the camera setup to Dream's real robot station as closely as possible. 4) Check IK joint limits and servo settings to avoid bad poses and reduce lag. The last part is especially important because my arm actually folded back into itself due to incorrect IK limits, and it could've easily damaged itself. Hopefully these fixes help anyone else trying to get Dream-1 running on their own arm!