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roboninecom/SO-ARM-102

Open-source leader and follower robot arm kit with 5 DOF plus a gripper, 3D-printable parts, and LeRobot-compatible joint layout for teleoperation and imitation learning.

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What is it?

SO-ARM 102 is a hardware design for a desk-scale leader and follower robot arm. The leader is moved by hand and the follower repeats the motion, which makes it suited to teleoperation and recording demonstrations for imitation learning. The arm has five degrees of freedom plus a parallel gripper, and the joint layout matches SO-ARM 101 so that LeRobot datasets and policies can be used with it.

The repository holds print-ready STL files, STEP CAD sources, 3MF slicer projects, a bill of materials with cost estimates, a printable assembly booklet, and a URDF export with collision geometry and mass properties for simulation. The frame is printed in PET-CF, and the single-arm and bimanual configurations are both documented. Parts fit a 180 × 180 mm print bed, and the follower and leader use different servo sets and 12 V and 5 V power supplies.

The project is at v0.1 pre-release, and the repository lists known issues such as hard-to-reach M2 screws and tight gripper clamp bores. Hardware is licensed under CERN-OHL-P-2.0, software under Apache-2.0, and documentation under CC BY 4.0.

Key features

  • 01Leader and follower arms with 5 DOF plus a parallel gripper.
  • 02Joint layout compatible with LeRobot SO-101 leader/follower workflow.
  • 03STL, STEP and 3MF files for printing and CAD editing.
  • 04Itemised bill of materials with estimated component costs.
  • 05URDF and Xacro export with collision geometry and mass properties for simulation.
  • 06Printable A5 assembly booklet and step-by-step guide.

Use cases

  • Building a low-cost teleoperation rig for imitation learning experiments.
  • Recording two-handed demonstrations with a bimanual leader-follower setup.
  • Importing a 3D-printed robot arm model into a robotics simulator via URDF.

Quick start

  1. 1

    Print the parts using the 3MF projects or STL files

  2. 2

    Buy the hardware from the bill of materials

  3. 3

    Assemble the arm using the assembly guide

  4. 4

    Set up the software and install LeRobot

Things to know

  • Hardware-only design: the README covers printing, buying and assembling the arm, and software setup is delegated to external guides.
  • Marked as v0.1 pre-release with known issues, including missing models and a missing camera holder STEP source.
  • Licensed CC-BY-4.0 in metadata while the README uses separate hardware, software and docs licences; check the licence per file.

Topics

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

FAQ

What is SO-ARM-102?
Open-source leader and follower robot arm kit with 5 DOF plus a gripper, 3D-printable parts, and LeRobot-compatible joint layout for teleoperation and imitation learning. SO-ARM 102 is a hardware design for a desk-scale leader and follower robot arm. The leader is moved by hand and the follower repeats the motion, which makes it suited to teleoperation and recording demonstrations for imitation learning. The arm has five degrees of freedom plus a parallel gripper, and the joint layout matches SO-ARM 101 so that LeRobot datasets and policies can be used with it.
Is SO-ARM-102 free to use? What license does it have?
SO-ARM-102 is open source under the CC-BY-4.0 license. Check the license terms before using it in commercial products.
Is SO-ARM-102 still maintained?
Actively maintained. The last commit to SO-ARM-102 was on Oct 19, 2026.
What can I use SO-ARM-102 for?
Building a low-cost teleoperation rig for imitation learning experiments. Recording two-handed demonstrations with a bimanual leader-follower setup. Importing a 3D-printed robot arm model into a robotics simulator via URDF.
How do I install SO-ARM-102?
Print the parts using the 3MF projects or STL files Buy the hardware from the bill of materials Assemble the arm using the assembly guide Set up the software and install LeRobot
Where can I get SO-ARM-102?
The source code and installation instructions are on GitHub: https://github.com/roboninecom/SO-ARM-102

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