# Seeded by Robotheca from the repository at the pinned commit (2026-10-04).
format_version: "0.1"
name: SO-101
summary: A low-cost 3D-printed robot arm built as a leader and follower pair, for teleoperation and for teaching tasks by demonstration with LeRobot.
category: arm
difficulty: beginner
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/TheRobotStudio/SO-ARM100
  ref: 5f6d2b876a53a4872e405b991dd925556c9e38a4
# README, "Parts For Two Arms": total €226.3 (3D printing not included)
estimated_cost: { amount: 226.3, currency: EUR }
tools: ["3D printer"]
files:
  urdf: Simulation/SO101/so101_new_calib.urdf
  parts_3d: STL/SO101/
  cad: STEP/SO101/
  bom: README.md
  docs: 3DPRINT.md
  simulation: Simulation/SO101/
  images: ["media/SO101_Follower.webp"]
software:
  framework: lerobot
# The README sets the arm up with the LeRobot library ("Setup with LeRobot",
# its tutorial at huggingface.co/docs/lerobot/so101): the code is there.
external_links:
  - type: docs
    url: https://github.com/huggingface/lerobot
    label: LeRobot, the software the README sets the arm up with
# Build guide: the README (parts, printing) and the LeRobot tutorial it links
# for setup, assembly and calibration. Neither states times.
build_steps:
  - { title: Get the parts for both arms, doc: README.md }
  - { title: Print the parts, doc: README.md }
  - { title: Install LeRobot, url: "https://huggingface.co/docs/lerobot/so101#install-lerobot-" }
  - { title: Set the motor IDs and baud rates, url: "https://huggingface.co/docs/lerobot/so101#configure-the-motors" }
  - { title: Assemble the arms joint by joint, url: "https://huggingface.co/docs/lerobot/so101#step-by-step-assembly-instructions" }
  - { title: Calibrate the leader and follower arms, url: "https://huggingface.co/docs/lerobot/so101#calibrate" }