# SO-ARM101 — Standard Open Arm A 6-DOF open-source teleoperation arm system designed by [The Robot Studio](https://www.therobotstudio.com) in collaboration with [Hugging Face](https://huggingface.co/lerobot). SO-101 is the next-gen version of the SO-100 with improved wiring, easier assembly, and updated motors. Built to work seamlessly with the 🤗 [LeRobot](https://github.com/huggingface/lerobot) library for end-to-end AI robotics research. ## What makes it interesting - **Leader + Follower** teleoperation pair — move the leader arm, the follower mimics in real time - **LeRobot-native** — record demonstrations, train imitation-learning policies, deploy to the arm - **Low cost** — ~$100 per arm in printed parts + motors - **Active community** — dozens of vendors selling kits worldwide ## Specs | | | |---|---| | Degrees of Freedom | 6 per arm (leader + follower = 12 total) | | Motors | Feetech STS3215 servos | | Reach | ~420mm | | License | Apache 2.0 (code + hardware) | | Ecosystem | Hugging Face LeRobot | ## Build options **Two paths:** 1. **Buy a kit** — dozens of vendors listed in the [README](https://github.com/TheRobotStudio/SO-ARM100#kits) (PartaBot US, Seeed Studio, WowRobo, etc.) 2. **Source & print yourself** — follow the [3DPRINT.md](https://github.com/TheRobotStudio/SO-ARM100/blob/main/3DPRINT.md) guide and the Hugging Face [Assembly Guide](https://huggingface.co/docs/lerobot/so101) ## STL files This program includes 12 representative SO-101 individual parts (base, motor holders, arm links, wrist roll/pitch, gripper jaw, handle). For the full SO-101 printable set plus the SO-100 legacy parts, Optional accessories (cam mounts, bases, grippers), and Mini variant, browse the [STL directory on GitHub](https://github.com/TheRobotStudio/SO-ARM100/tree/main/STL). ## Resources - 📖 [SO-101 Assembly Guide (HuggingFace)](https://huggingface.co/docs/lerobot/so101) - 🤗 [LeRobot library](https://github.com/huggingface/lerobot) - 💬 [Discord community](https://discord.gg/ggrqhPTsMe) - 🖨 [Printing guide (3DPRINT.md)](https://github.com/TheRobotStudio/SO-ARM100/blob/main/3DPRINT.md) - 🏭 [The Robot Studio](https://www.therobotstudio.com) ## Attribution Source: [TheRobotStudio/SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100) · License: Apache 2.0 · © The Robot Studio / Hugging Face contributors
Category: Arm Robots
| Item | Qty | Unit Cost | Notes | |---|---|---|---| | Feetech STS3215 servo, 7.4V, 1/345 gear (C001) | 7 | $13.89 | Most joints | | Feetech STS3215 servo, 7.4V, 1/191 gear (C044) | 2 | $13.89 | Specific joint ratio | | Feetech STS3215 servo, 7.4V, 1/147 gear (C046) | 3 | $13.89 | Specific joint ratio | | Waveshare Bus Servo Adapter / Motor Control Board | 2 | $10.60 | One per arm | | 5V power supply (DC barrel) | 2 | $10.00 | One per arm | | USB-C cable (2-pack) | 1 | $7.00 | Host to control board | | Table clamp set (4 pcs) | 1 | $9.00 | Mount arms to desk | | Precision screwdriver set | 1 | $6.00 | Assembly | | Servo daisy-chain cable assortment | 1 set | $8.00 | STS3215 inter-servo wiring (inferred) | | M2 / M3 socket-head screw + nut kit | 1 set | $12.00 | Frame fasteners (inferred) |