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TheRobotStudio/SO-ARM100

Open-source 3D-printable designs and parts lists for the SO-100/SO-101 low-cost robot arms, built to work with the LeRobot library.

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What is it?

SO-101 is a low-cost robot arm designed by RobotStudio in collaboration with Hugging Face, and this repository holds the open hardware for it. It provides STL print files for the follower and leader arms, a bill of materials with sourcing links across US, EU, China and Japan, and step-by-step printing guidance covering printer settings and fit-check gauges.

The arms are intended for teleoperation: a leader arm is moved by hand while a follower arm mirrors its motion. Assembly and software setup are covered by the LeRobot documentation, and the repository also lists kits from several vendors for buyers who do not want to print or source parts themselves.

The repo additionally collects optional add-ons such as overhead and wrist camera mounts, a raised leader base, a 4040 aluminum profile mount, and compliant gripper designs.

Key features

  • 01Provides STL files for both follower and leader arms, with separate files for Ender and Prusa/UP print bed sizes.
  • 02Includes a full bill of materials with prices and purchase links in US, EU, China and Japan.
  • 03Offers printer calibration gauges to check fit against LEGO blocks or STS3215 servos.
  • 04Lists vendors selling assembled arms or parts kits.
  • 05Includes optional mounts for cameras, a raised leader base, and a compliant gripper.

Use cases

  • Building a low-cost teleoperation rig for imitation learning experiments with LeRobot.
  • Assembling a desktop robot arm from 3D-printed parts and off-the-shelf servos.
  • Adding wrist or overhead cameras to a robot arm setup for data collection.
  • Comparing parts sourcing options across regions before ordering a build.

Quick start

  1. 1

    Source the parts from the Bill of Materials and 3D print or order the printed parts

  2. 2

    Assemble the arm following the Assembly Guide, then set it up with the LeRobot tutorial

Things to know

  • You must source parts, 3D print them, and assemble the arms yourself, or buy a kit from a vendor.
  • The README's parts table puts the cost of a two-arm leader and follower setup at roughly $230 before shipping.

Topics

#robotics#robot-arm#3d-printing#teleoperation#hardware#open-hardware#imitation-learning

FAQ

What is SO-ARM100?
Open-source 3D-printable designs and parts lists for the SO-100/SO-101 low-cost robot arms, built to work with the LeRobot library. SO-101 is a low-cost robot arm designed by RobotStudio in collaboration with Hugging Face, and this repository holds the open hardware for it. It provides STL print files for the follower and leader arms, a bill of materials with sourcing links across US, EU, China and Japan, and step-by-step printing guidance covering printer settings and fit-check gauges.
Is SO-ARM100 free to use? What license does it have?
SO-ARM100 is open source under the Apache-2.0 license. Check the license terms before using it in commercial products.
Is SO-ARM100 still maintained?
Actively maintained. The last commit to SO-ARM100 was on Oct 6, 2026.
What can I use SO-ARM100 for?
Building a low-cost teleoperation rig for imitation learning experiments with LeRobot. Assembling a desktop robot arm from 3D-printed parts and off-the-shelf servos. Adding wrist or overhead cameras to a robot arm setup for data collection. Comparing parts sourcing options across regions before ordering a build.
How do I install SO-ARM100?
Source the parts from the Bill of Materials and 3D print or order the printed parts Assemble the arm following the Assembly Guide, then set it up with the LeRobot tutorial
Where can I get SO-ARM100?
The source code and installation instructions are on GitHub: https://github.com/TheRobotStudio/SO-ARM100

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