<div align="center">

   <h1>Standard Open SO-100 Arm</h1>
   <div style="display: flex; gap: 1rem; justify-content: center; align-items: center;" >
      <img src="media/Leader_And_Follower_SO100.jpg" alt="SO-101 follower arm" title="SO-101 follower arm" style="width: 70%;"/>
</div>
<br><br>

The SO-100 arm is the original robot arm designed by the [RobotStudio](https://www.therobotstudio.com) in collaboration with [Hugging Face](https://huggingface.co/lerobot).
</div>

## Sourcing Parts

The follower and leader arm for this teleoperation setup will almost the same off the shelf parts. If you plan on creating the classic teleoperation set up to be used with the `LeRobot` library please buy from the Parts for Two Arms below. 

We only have links for US, EU and CN for now. If you find links for other countries, please create an issue or PR so that we add them to the list. Note that prices and items may vary depending on geographic location.

#### Parts For Two Arms (Standard Teleoperation Setup):

| Part                                        | Amount | Unit Cost (US) | Buy US                                                                                                    | Unit Cost (EU) | Buy EU                                                                                            | Unit Cost (RMB) | Buy CN                                                                          |
| ------------------------------------------- | ------ | -------------- | --------------------------------------------------------------------------------------------------------- | -------------- | ------------------------------------------------------------------------------------------------- | --------------- | ------------------------------------------------------------------------------- |
| STS3215 Servo<sup>[1](#myfootnote1)</sup>   | 12     | $15            | [Alibaba](https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1600523509006.html)         | 13€            | [Alibaba](https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1600523509006.html) | ￥97.72         | [TaoBao](https://item.taobao.com/item.htm?id=712179366565&skuId=5268252241438)  |
| Motor Control Board                         | 2      | $11            | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/)             | 12€            | [Amazon](https://www.amazon.fr/-/en/dp/B0CJ6TP3TP/)                                               | ￥27            | [TaoBao](https://detail.tmall.com/item.htm?id=738817173460&skuId=5096283384143) |
| USB-C Cable 2 pcs                           | 1      | $7             | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1)          | 7€             | [Amazon](https://www.amazon.fr/dp/B07BNF842T/)                                                    | ￥23.9\*2       | [TaoBao](https://detail.tmall.com/item.htm?id=44425281296&skuId=5611379016222)  |
| Power Supply<sup>[2](#myfootnote2)</sup>    | 2      | $10            | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/)        | 13€            | [Amazon](https://www.amazon.fr/-/en/dp/B01HRR9GY4/)                                               | ￥22.31         | [TaoBao](https://item.taobao.com/item.htm?id=544824248494&skuId=4974994129990)  |
| Table Clamp 4pcs                            | 1      | $9             | [Amazon](https://www.amazon.com/TAODAN-Trigger-Ratchet-Woodworking-Processes/dp/B0DJNXF8WH?rps=1&sr=1-18) | ￥9.2          | [TaoBao](https://detail.tmall.com/item.htm?id=801399113134&skuId=5633627126649)                   |
| Screwdriver Set<sup>[3](#myfootnote3)</sup> | 1      | $6             | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH)        | 10€            | [Amazon](https://www.amazon.fr/dp/B08ZXVMVYD/)                                                    | ￥14.9          | [TaoBao](https://detail.tmall.com/item.htm?id=675684600845&skuId=4856851392176) |
| Total                                       | ---    | $232           | ---                                                                                                       | 244€           | ---                                                                                               | ￥1343.16       | ---                                                                             |

#### Parts for One Arm:

| Part                                        | Amount | Unit Cost (US) | Buy US                                                                                                                                                | Unit Cost (EU) | Buy EU                                                                                                                                                | Unit Cost (RMB) | Buy CN                                                                          |
| ------------------------------------------- | ------ | -------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | -------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------- | ------------------------------------------------------------------------------- |
| STS3215 Servo<sup>[1](#myfootnote1)</sup>   | 6      | $14            | [Alibaba](https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html?spm=a2747.product_manager.0.0.11be71d2ARQb82) | 13€            | [Alibaba](https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html?spm=a2747.product_manager.0.0.11be71d2ARQb82) | ￥97.72         | [TaoBao](https://item.taobao.com/item.htm?id=712179366565&skuId=5268252241438)  |
| Motor Control Board                         | 1      | $11            | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/)                                                         | 12€            | [Amazon](https://www.amazon.fr/-/en/dp/B0CJ6TP3TP/)                                                                                                   | ￥27            | [TaoBao](https://detail.tmall.com/item.htm?id=738817173460&skuId=5096283384143) |
| USB-C Cable 2 pcs                           | 1      | $7             | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1)                                                      | 7€             | [Amazon](https://www.amazon.fr/dp/B07BNF842T/)                                                                                                        | ￥23.9          | [TaoBao](https://detail.tmall.com/item.htm?id=44425281296&skuId=5611379016222)  |
| Power Supply<sup>[2](#myfootnote2)</sup>    | 1      | $10            | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/)                                                    | 13€            | [Amazon](https://www.amazon.fr/-/en/dp/B01HRR9GY4/)                                                                                                   | ￥22.31         | [TaoBao](https://item.taobao.com/item.htm?id=544824248494&skuId=4974994129990)  |
| Table Clamp 2pcs                            | 1      | $5             | [Amazon](https://www.amazon.com/Mr-Pen-Carpenter-Clamp-6inch/dp/B092L925J4/)                                                                          | 8€             | [Amazon](https://www.amazon.fr/-/en/dp/B08HZ1QRBF/)                                                                                                   | ￥7.8           | [TaoBao](https://detail.tmall.com/item.htm?id=738636473238&skuId=5505939904942) |
| Screwdriver Set<sup>[3](#myfootnote3)</sup> | 1      | $6             | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH)                                                    | 10€            | [Amazon](https://www.amazon.fr/dp/B08ZXVMVYD/)                                                                                                        | ￥14.9          | [TaoBao](https://detail.tmall.com/item.htm?id=675684600845&skuId=4856851392176) |
| Total                                       | ---    | $123           | ---                                                                                                                                                   | 128€           | ---                                                                                                                                                   | ￥682.23        | ---                                                                             |

## Printing the Parts

A variety of 3D printers are acceptable to print the parts necessary of the follower and leader arm. Follow the steps below to ensure a good print.

1. Choose a printer: The STL files provided ready to print on many FDM printers. Below are the tested and suggested settings though others may work.
   1. Material: PLA
   2. Nozzle Diameter and Precision: 0.4mm nozzle diameter at 0.2mm layer height or 0.6mm nozzle at 0.4mm layer height.
   3. Infill Density: 13%
   4. Sample Printers: [Prusa MINI+](https://www.prusa3d.com/product/original-prusa-mini-semi-assembled-3d-printer-4/), [UP Plus 2](https://shop.tiertime.com/product/tiertime-up-plus-2-3d-printer/), [Creality Ender 3](https://www.amazon.com/Comgrow-Creality-Ender-Aluminum-220x220x250mm/dp/B07BR3F9N6/), [Bambu Lab A/P/X-series](https://bambulab.com)
2. Set up the printer
   1. Setup and Takedown
      1. Ensure that the printer is calibrated and the bed level is correctly set using the printer specific instructions.
      2. Clean the print bed, making sure it is free from dust, or grease. If cleaning the bed using water, or other liquid, dry the bed.
      3. If your printer recommends it, use a standard glue stick and apply a thin, even layer of glue across the print area of the bed. Avoid clumping or uneven application.
      4. Load the printer filament using printer specific instructions.
      5. Ensure the printer settings match the ones suggested above (most printers have multiple settings so choose the ones that most closely match).
      6. Set for supports everywhere but ignore slopes greater than 45 degrees to the horizontal.
      7. There should be no supports in the screw holes with horizontal axes.
3. Check Printer Accuracy
   1. In the [Gauges](/stl_files_for_3dprinting/Gauges) folder, there are two types of gauges, one to check the size of print against a standard 4x2 lego block and one against a STS3215 servo.
      1. If you have a STS3215 servo, print:
         1. [Gauge Zero](/stl_files_for_3dprinting/Gauges/Gauge_0.STL)
         2. [Gauge Tight](/stl_files_for_3dprinting/Gauges/Gauge_tight_1.STL)
      2. If you have a standard lego block, print:
         1. [Gauge Zero](/stl_files_for_3dprinting/Gauges/Lego_Size_Test_02_zero.STL)
         2. [Gauge -0.1](/stl_files_for_3dprinting/Gauges/Lego_Size_Test_02_minuspoint1.STL)
   2. Test the gauge 0 against your given object (Lego or Servo). The fit should be similar to this [tutorial](https://youtu.be/dss8E3DG2rA).
   3. If the fit is appropriate, go onto Step 4, otherwise, change your printer settings and try again or create an issue.
4. Print the parts: All the parts for the leader or follower are contained in a single file, correctly orientated for z upwards to minimize supports.

   1. For printer bed sizes of 220mmx220mm (such as the Ender), print these files:
      1. [Follower](/stl_files_for_3dprinting/Follower/Print_Follower_SO_ARM100_08k_Ender.STL)
      2. [Leader](/stl_files_for_3dprinting/Leader/Print_Leader_SO_ARM100_08k_Ender.STL)
   2. For printer bed sizes of 205mm x 250mm (such as the Prusa/Up):
      1. [Follower](/stl_files_for_3dprinting/Follower/Print_Follower_SO_ARM100_08k_UP_Prusa.STL)
      2. [Leader](/stl_files_for_3dprinting/Leader/Print_Leader_SO_ARM100_08k_UP_Prusa.STL)
   3. For Bambu Lab A-series:
      1. Follower ([Part 1](/stl_files_for_3dprinting/Follower/Print_Follower_SO_ARM100_08k_UP_BambuLabA1Mini_part1.STL)) ([Part 2](/stl_files_for_3dprinting/Follower/Print_Follower_SO_ARM100_08k_UP_BambuLabA1Mini_part2.STL))
      2. Leader ([Part 1](/stl_files_for_3dprinting/Leader/Print_Leader_SO_ARM100_08k_UP_BambuLabA1Mini_part1.stl)) ([Part 2](/stl_files_for_3dprinting/Leader/Print_Leader_SO_ARM100_08k_UP_BambuLabA1Mini_part2.stl))
   4. For Bambu Lab P-series & X-series
      1. [Follower](/stl_files_for_3dprinting/Follower/Print_Follower_Bambu_P1P.3mf)
      2. [Leader](/stl_files_for_3dprinting/Leader/Print_Leader_Bambu_P1P.3mf)

5. Take Down
   1. After the print is done, use a putty knife to scrape the parts off the print bed.
   2. Remove any support material from parts.

### Don't Own a 3D printer?
Go here: [Printing services](./3DPRINT.md)

## Assembly tutorial, data collection and AI training

Follow the [complete guide of LeRobot](https://huggingface.co/docs/lerobot/so100).

It points to [our video tutorial](https://www.youtube.com/watch?v=FioA2oeFZ5I&ab_channel=HuggingFace).
Note: we removed to auto-calibration at the end in favor of manual calibration which is more robust.
