Merge branch 'main' into feat/urdf

3DPRINT.md

@@ -1,6 +1,6 @@
 # 3D Printing Services
 
-There are different ways to get your parts 3D printed, below are the options and which one to choose. We will add more services once we verify them. If you tried another service please let us know so we can add it here.
+There are different ways to get your parts 3D printed, below are the options and which one to choose. We will add more services once we verify them. If you tried another service please let us know so we can add it here. Additionaly SeeedStudio also sells the 3D printed parts only: [SO-ARM100 3D-Printed Enclosure](https://www.seeedstudio.com/SO-ARM100-3D-printed-Enclosure-p-6409.html).  
 
 - [Europe](#craftcloud3d) (Craftcloud3d) :fr: :de: :uk: :it: :es:
 - [US](#craftcloud3d) (Craftcloud3d) :us:

Optional/Overhead_Cam_Mount/README.md

@@ -0,0 +1,72 @@
+# Overhead Camera Installation Guide for SO-100
+<img height="400" alt="Screenshot 2025-04-12 at 2 52 49 PM" src="https://github.com/user-attachments/assets/a652e133-8672-448d-baa0-bdd494a0a515" />
+<img height="400" alt="Screenshot 2025-04-12 at 2 53 09 PM" src="https://github.com/user-attachments/assets/050387cb-b701-47ed-bfb9-dabd29689272" />
+<img height="400" alt="Screenshot 2025-04-12 at 2 47 38 PM" src="https://github.com/user-attachments/assets/519d884d-dcb6-42a4-bff4-927858672f8b" />
+
+## Overview
+This guide provides step-by-step instructions for installing an **Overhead Camera** on the SO-100 robot using a **Web Camera** and a 3D-printed **Arm Base** and **Camera Mount**.
+
+
+## Design Goals
+
+1. Provide overhead view of entire manipulation space
+2. Support both single follower arm and double follower ("bi-manual") arm setups
+3. Ensure consistent data across SO-100 arm users through standardized camera positioning and arm spacing (bi-manual)
+
+## Required Components
+- **Web Camera** (1) - this is the [recommended model](https://www.amazon.com/dp/B082X91MPP)
+- **3D-printed parts**
+    - [Arm Base](stl/arm_base.stl) (1 per follower arm)
+    - [Camera Mount Bottom](stl/cam_mount_bottom.stl) (1)
+    - [Camera Mount Top](stl/cam_mount_top.stl) (1)
+- **M2 Screws** (8) - these are the smaller screws that came with your Feetech servos.
+
+
+<img height="200" alt="Screenshot 2025-03-04 at 7 43 33 PM" src="https://github.com/user-attachments/assets/18099e1d-754c-4877-871f-9113a0dff062" />
+
+## Assembly Instructions
+### Step 1: Remove the existing base from the **Webcam**
+<img height="250" src="https://github.com/user-attachments/assets/89226328-16bf-41e2-b2e2-260352597b61" /> </br>
+Take the **Webcam** out of its package, and: 
+1. Remove the soft plastic cover from the joint.
+2. Unscrew/remove the screw in the joint.
+3. Remove the base from the camera module.
+
+
+### Step 2: Attach the **Webcam** onto the **Camera Mount Top**
+<img height="250" src="https://github.com/user-attachments/assets/051ebe6b-9548-47a0-81f7-df60a1ea5fad" /> </br>
+
+1. Push the **Webcam** into the **Camera Mount Top** by aligning the round joint holes.
+2. Place the hex bolt into the hexagon shaped-hole and screw **M2 screw** into the opposite hole of the **Camera Mount Top** round joint.
+### Step 3: Attach the **Camera Mount Top** to the **Camera Mount Bottom**.
+<img height="250" src="https://github.com/user-attachments/assets/434e4423-bf8a-4a36-95fb-d3c4283381a9" />
+
+
+1. Push the **Camera Mount Top** into the **Camera Mount Bottom** by aligning the linear joint lines on the bottom of **Camera Mount Top** with the top of the **Camera Mount Bottom**.
+2. Screw an **M2 screw** into each of the 4 holes in the linear joint.
+### Step 4: Attach the **Arm Base** to the **Camera Mount Bottom**.
+<img height="250" src="https://github.com/user-attachments/assets/732977ac-dd4a-4289-9d9c-8752c0369ff0"/></br>
+1. Push the **Arm Base** into the joint lines on the side of the **Camera Mount Bottom**.  (Repeat if you have 2 follower arms.)
+### Step 5: Attach the **SO-100 follower arm** to the **Arm Base**.
+<img height="250" src="https://github.com/user-attachments/assets/24b4c0ce-e62b-4fd6-963c-09448e7ae6f9" /></br>
+1. Align the bottom of the **SO-100 follower arm** with the top of the **Arm Base**. (Repeat if you have 2 follower arms.)
+2. If you use clamps to hold down your **SO-100 follower arm**, clamp in the same way you've done before, and it will hold down the camera mount.
+   
+### Step 6: Configure Software 
+1. In your software, add your overhead cam, including setting its resolution and FPS. 
+- **Note**: You will likely want to set your resolution to *640 x 480* and FPS to *30* even if the camera module's max resolution/frame rate is higher or wider, as most models work with lower resolutions and any higher will just be data bloat.  This camera mount was specifically designed for 640 x 480 resolution and width.
+2. Look at the video feed from your newly installed camera (On Mac, you can also use *QuickTime*->*New Movie Recording* to see this feed).  You should be able to see the workspace of the arm(s).
+
+<img height="300" alt="Screenshot 2025-04-12 at 4 48 35 PM" src="https://github.com/user-attachments/assets/a0aded4e-6abf-4d19-a514-6d4be90ebe1b" />
+<img height="300" alt="Screenshot 2025-04-12 at 4 52 09 PM" src="https://github.com/user-attachments/assets/d33287bd-0263-4a03-b7d9-54e360ef5a36" /></br>
+
+### Step 7: (Optional) Add Gripper Cameras
+<img height="250" src="https://github.com/user-attachments/assets/8e8fbf60-f62e-4d8c-8451-3ca5a864497c"/></br>
+1. For optimal training data, add [**Gripper Cameras**](../Wrist_Cam_Mount_32x32_UVC_Module) designed specifically alongside this camera mount setup.
+
+## Acknowledgements
+
+- Conor Mc Gartoll
+    - Design and R & D
+- Philip Fung
+    - R & D

Optional/Wrist_Cam_Mount_32x32_UVC_Module/README.md

@@ -17,7 +17,7 @@ This guide provides step-by-step instructions for installing a **Wrist Camera**
 ## Required Components
 ### Hardware:
 - **USB Camera Module** (1) - this is the [recommended model](https://www.amazon.com/innomaker-Computer-Raspberry-Support-Windows/dp/B0CNCSFQC1/ref=pd_lpo_d_sccl_3/132-7372155-9780230?pd_rd_w=eYz4L&content-id=amzn1.sym.4c8c52db-06f8-4e42-8e56-912796f2ea6c&pf_rd_p=4c8c52db-06f8-4e42-8e56-912796f2ea6c&pf_rd_r=XC3EXZRSSXKDB1G0Z5D7&pd_rd_wg=1wTpn&pd_rd_r=932b1976-9ac7-4cef-9774-f0f9c3acb804&pd_rd_i=B0CNCSFQC1&psc=1), but any 32mm x 32mm USB camera module with min 720p / 30 fps spec will likely work
-- [3D-printed Wrist Roll Replacement](stl/Camera_Holder_Alternate_MF.stl) (1)
+- [3D-printed Wrist Roll Replacement](Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Camera_Holder_Alternate_MF.stl) (1)
 - **M2 Screws** (4) - these are the smaller screws that came with your Feetech servos.
 
 

Optional/Wrist_Cam_Mount_Vinmooog_Webcam/README.md

@@ -7,8 +7,8 @@ This guide provides step-by-step instructions for installing a **wrist camera**
 ### Hardware:
 - [Vinmooog Webcam](https://www.amazon.fr/Vinmooog-equipement-Microphone-Enregistrement-conf%C3%A9rences/dp/B0BG1YJWFN/)
 - **3D-printed parts:**
-  - `Optional/Camera_Holder/stl/Updated_Wrist_Camera_Insert.stl` (Print **1x**)
-  - `Optional/Camera_Holder/stl/Webcam_Mount_Wrist v2.stl` (Print **1x**)
+  - [Modified wirst](Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Updated_Wrist_Camera_Insert.stl) (Print **1x**), not needed for SO-101
+  - [Mount](Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Webcam_Mount_Wrist.stl) (Print **1x**)
 - **Fasteners:**
   - 3x **M3 Nut**
   - 1x **M3x12mm bolt**

Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module/README.md

@@ -0,0 +1,56 @@
+# Plug Wrist Camera (MF) Installation Guide for SO-100
+
+<img height="300" src="https://github.com/user-attachments/assets/139be1c3-d446-4304-b0f4-c90a996789d6" />
+<img height="300" src="https://github.com/user-attachments/assets/6c2f0f47-9663-4224-ac4e-220d1d71c162" />
+
+## Overview
+This guide provides step-by-step instructions for installing a **Wrist Camera** (alternate "McGartoll-Fung" design) on the SO-100 robot using a **Camera Module** and a 3D-printed **Plug-in Camera adapter**.
+
+This an adapatation of [Wrist Camera (MF) UVC Module](../Wrist_Cam_Mount_32x32_UVC_Module/)
+
+## Comparison to Main Design
+#### Advantages:
+- smaller
+- fewer parts
+- no additional screws/hardware needed to attach camera
+- no removal/replacement of existing pieces
+- easy removal/replacement
+
+#### Disdvantages:
+- still require to adapt to new camera
+
+## Required Components
+### Hardware:
+- **USB Camera Module** (1) - this is the [recommended model](https://www.amazon.com/innomaker-Computer-Raspberry-Support-Windows/dp/B0CNCSFQC1/ref=pd_lpo_d_sccl_3/132-7372155-9780230?pd_rd_w=eYz4L&content-id=amzn1.sym.4c8c52db-06f8-4e42-8e56-912796f2ea6c&pf_rd_p=4c8c52db-06f8-4e42-8e56-912796f2ea6c&pf_rd_r=XC3EXZRSSXKDB1G0Z5D7&pd_rd_wg=1wTpn&pd_rd_r=932b1976-9ac7-4cef-9774-f0f9c3acb804&pd_rd_i=B0CNCSFQC1&psc=1), but any 32mm x 32mm USB camera module with min 720p / 30 fps spec will likely work
+- [3D-printed Plugin camera attachment](stl/SO-ARM100_Plug_camera.stl) (1)
+   - I recommend printing it as oriented in the STL using tree supports. 40% infill is recommended to increase sturdiness and avoid wobbling
+- **M2 Screws** (8) - these are the smaller screws that came with your Feetech servos.
+
+
+<img height="200" alt="Screenshot 2025-03-04 at 7 43 33 PM" src="https://github.com/user-attachments/assets/18099e1d-754c-4877-871f-9113a0dff062" />
+
+## Assembly Instructions
+### Step 1: Plug the new camera module to the Gripper
+   
+2. 3D print the **Plugin camera attachment**.
+
+3. Attach the **Plugin camera attachment**.
+    1. The hole fit into the [Gripper hole](../../STEP/Follower_specific/Moving_Jaw_08d%20v1.step)
+
+4. Secure it with the M2 screws
+
+
+
+
+### Step 2: Install the Camera
+1. Take out the **Camera Module**.
+2. Align the 4 holes of the **Camera Module** with the **Moving Jaw Replacement**, and attach using 4 **M2 Screws**.
+
+<img height="300" src="https://github.com/user-attachments/assets/ea5af652-9311-44c7-8ae8-525f42cb4703" />
+
+
+### Step 3: Configure Software and Adjust Focus
+1. In your software, set your resolution and FPS. 
+- **Note**: You will likely want to set your resolution to *640 x 480* and FPS to *30* even if the camera module's max resolution/frame rate is higher, as most models work with lower resolutions and any higher will just be data bloat.
+2. Turn on your arm.  Look at the video feed from your newly installed camera (On Mac, you can also use *QuickTime*->*New Movie Recording* to see this feed).  
+- **Note**: The focus on the camera is manual and will look very blurry initially. Adjust the focus by twisting the lens counterclockwise or clockwise until the video feed is clear.

README.md

@@ -1,136 +1,224 @@
-# SO-ARM100
+<div align="center">
 
-Standard Open Arm 100 - Version 1.3
+   <h1>Standard Open SO-100 & SO-101 Arms</h1>
+   <div style="display: flex; gap: 1rem; justify-content: center; align-items: center;" >
+   <img
+      src="media/SO101_Follower.webp?raw=true"
+      alt="SO-101 follower arm"
+      title="SO-101 follower arm"
+      style="width: 40%;"
+    />
+   <img
+      src="media/SO101_Leader.webp?raw=true"
+      alt="SO-101 leader arm"
+      title="SO-101 leader arm"
+      style="width: 40%;"
+    />
+</div>
 
-![Leader_And_Follower](./media/Leader_And_Follower.jpg)
+<h2>
+    <p>Build Your Own SO-101 Robot!</p>
+</h2>
 
-Join the project with some of the brightest minds in open AI and robotics development on the [discord server](https://discord.gg/ggrqhPTsMe).
+The SO‑101 is the next‑generation version of the SO‑100 robot arm, originally designed by the [RobotStudio](https://www.therobotstudio.com) in collaboration with [Hugging Face](https://huggingface.co/lerobot). It has improved wiring, is easier to assembly (no gear removal) and uses updated motors for the leader arm.
 
-## Sourcing Parts
+These arms are designed to work seamlessly with the open‑source 🤗 LeRobot library. Join our community on [Discord](https://discord.gg/ggrqhPTsMe) to collaborate on both hardware and software, and help make end‑to‑end AI for robotics more accessible.
 
-Note: The follower and leader arm for this teleoperation setup will have 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. Note prices and items may vary depending on geographic location.
+</div>
 
-/!\ Warning: 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.
+### Documentation 📖
+- For the SO‑101 docs, follow this page further.
+- Here can you find the [SO‑100 docs](SO100.md) which is depreciated.
 
-#### Parts For Two Arms (Standard Teleoperation Setup):
+### Getting Your Own SO‑101 
+You have two options:
+- **Build it yourself**
+   - Source the components from the [Bill of materials](https://github.com/TheRobotStudio/SO-ARM100#sourcing-parts).
+   - 3D print the parts (or order the 3D printed parts), explained in [Printing the parts](https://github.com/TheRobotStudio/SO-ARM100?tab=readme-ov-file#printing-the-parts).
+   - Follow our [Assembly Guide](https://github.com/huggingface/lerobot/blob/main/examples/12_use_so101.md).
+- **Buy a kit**
+   - Buy assembled arms or a parts kit from one of the vendors [here](https://github.com/TheRobotStudio/SO-ARM100?tab=readme-ov-file#kits).
+   - Optinally follow our [Assembly Guide](https://github.com/huggingface/lerobot/blob/main/examples/12_use_so101.md).
 
-| 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       | ---                                                                             |
+### Setup with LeRobot 🤗
+After sourcing all parts you can setup your SO-101 with LeRobot [tutorial](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md). 
 
-#### Parts for One Arm:
+### Optional Hardware
 
-| 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        | ---                                                                             |
+This repository also includes a range of optional hardware designs such as a raised leader base and different camera mounts. Here you can explore the [full list](https://github.com/TheRobotStudio/SO-ARM100?tab=readme-ov-file#optional-hardware).
+
+---
 
 ## Kits
 
-You can also find kits for the SO100 arms here:
+You can find all optional for SO-100/SO-101 kits here:
 
-- from Seeed studio: [International](https://www.seeedstudio.com/SO-ARM100-Low-Cost-AI-Arm-Kit.html) or [China](https://item.taobao.com/item.htm?id=878010637397&skuId=5915703371829&spm=a213gs.v2success.0.0.4cbf4831mkqWLn) (They include **3d printed kits**!)
-- from WowRobo: [International](https://shop.wowrobo.com/products/so-arm100-diy-kit-assembled-version) or [China](https://item.taobao.com/item.htm?ft=t&id=860171734711) (They include **assembled** versions!)
+- from PartaBot :us: [US](https://partabot.com) (They include **assembled** versions, and also sell LeKiwi and Koch robots)
+- from Seeed studio :earth_africa: [International](https://www.seeedstudio.com/SO-ARM100-Low-Cost-AI-Arm-Kit.html) or :cn: [China](https://item.taobao.com/item.htm?id=878010637397&skuId=5915703371829&spm=a213gs.v2success.0.0.4cbf4831mkqWLn) or [Aliexpress](https://www.aliexpress.com/item/3256808696884714.html?gatewayAdapt=4itemAdapt) (They include **3d printed kits**)
+- from WowRobo :earth_africa: [International](https://shop.wowrobo.com/products/so-arm101-diy-kit-assembled-version-1) or :cn: [China](https://item.taobao.com/item.htm?ft=t&id=860171734711) (They include **assembled** versions)
 
-Additionally you can find SO100 follower arm kit (without leader arm) on [Phospho](https://robots.phospho.ai). It can be especially useful if you own a VR headset.
+Additionally you can find SO-100 follower arm kit (without leader arm) on [Phospho](https://robots.phospho.ai). It can be especially useful if you own a VR headset.
+
+## Sourcing Parts
+
+The follower and leader arm for this teleoperation setup will almost the same off the shelf parts (except for the motors). 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.
+
+> [!IMPORTANT]  
+> The STS3215 motors for the follower arm comes in two sizes. The 7.4V has a stall torque of 16.5kg.cm at 6V (and likely slightly less for a 5V power supply). The 12V version has a stall torque of 30kg.cm. While we found the 7.4V to be sufficient, if you would like more powerful motors you can buy the 12V version [here](https://www.alibaba.com/product-detail/6PCS-12V-30KG-STS3215-High-Torque_1601216757543.html). Note if you do this, you will also have to buy a 12V 5A+ power supply instead of a 5V one. The leader arm is always 7.4V for the SO101.
+
+#### Parts For Two Arms (Follower and Leader Setup):
+
+| Part                                        | Amount | Unit Cost (US) | Buy US                                                                                                    | Unit Cost (EU) | Buy EU                                                                                            | Unit Cost (RMB) | Buy CN                                                                          |
+| ------------------------------------------- | ------ | -------------- | --------------------------------------------------------------------------------------------------------- | -------------- | ------------------------------------------------------------------------------------------------- | --------------- | ------------------------------------------------------------------------------- |
+| STS3215 Servo 7.4V, 1/345 gear    | 7     | $33.9            | [Alibaba](https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html)         | €12.2           | [Alibaba](https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html) | ￥97.72         | [TaoBao](https://item.taobao.com/item.htm?id=712179366565&skuId=5268252241438)  |
+| STS3215 Servo 7.4V, 1/191 gear    | 2     | $33.9            | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM101-Servo-7_1601430747897.html?spm=a2747.product_manager.0.0.59a371d2W4e0SR)         | €12.2           | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM101-Servo-7_1601430747897.html?spm=a2747.product_manager.0.0.59a371d2W4e0SR) | ￥97.72         | -  |
+| STS3215 Servo 7.4V, 1/147 gear    | 3     | $33.9            | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM101-Servo-7_1601430760797.html?spm=a2747.product_manager.0.0.167371d25QeX3F)         | €12.2           | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM101-Servo-7_1601430760797.html?spm=a2747.product_manager.0.0.167371d25QeX3F) | ￥97.72         | -  |
+| Motor Control Board                         | 2      | $10.6           | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/)             | €11.4            | [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    | 2      | $10            | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/)        | €15.7            | [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) | €9.7 | [Amazon](https://www.amazon.fr/Connex-COXT865210-Lot-Serre-joints-bricolage/dp/B00NA3T2CQ)      | ￥5.2*4 | [TaoBao](https://detail.tmall.com/item.htm?id=801399113134&skuId=5633627126649)                   |
+| Screwdriver Set<sup>[1](#myfootnote1)</sup> | 1      | $6             | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH)        | €9            | [Amazon](https://www.amazon.fr/Vinabo-Magnétique-Electronique-Réparation-Informatique/dp/B0BNQBNFFJ)                                                    | ￥14.9          | [TaoBao](https://detail.tmall.com/item.htm?id=675684600845&skuId=4856851392176) |
+| Total                                       | ---    | $470           | ---                                                                                                       | €226.3           | ---                                                                                               | ￥1343.16       | ---                                                                             |
+
+#### Parts for One Follower Arm:
+
+| Part                                        | Amount | Unit Cost (US) | Buy US                                                                                                                                                | Unit Cost (EU) | Buy EU                                                                                                                                                | Unit Cost (RMB) | Buy CN                                                                          |
+| ------------------------------------------- | ------ | -------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | -------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------- | ------------------------------------------------------------------------------- |
+| STS3215 Servo 7.4V, 1/345 gear    | 6      | $33.9            | [Alibaba](https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html?spm=a2747.product_manager.0.0.11be71d2ARQb82) | €12.2            | [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      | $10.6            | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/)                                                         | €11.4            | [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    | 1      | $10            | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/)                                                    | €15.7            | [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>[1](#myfootnote1)</sup> | 1      | $6             | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH)                                                    | €9            | [Amazon](https://www.amazon.fr/Vinabo-Magnétique-Electronique-Réparation-Informatique/dp/B0BNQBNFFJ)                                                                                                        | ￥14.9          | [TaoBao](https://detail.tmall.com/item.htm?id=675684600845&skuId=4856851392176) |
+| Total                                       | ---    | $242           | ---                                                                                                                                                   | €124.3        | ---                                                                                                                                                   | ￥682.23        | ---                                                                             |
+
+<a name="myfootnote1">1</a>: You do not need to use this exact screwdriver set, but it is highly recommended to have phillips head screw driver sizes #0 and #1 for easiest screw installation and removal. These are both standard sizes which will likely appear in most small screwdriver sets.
 
 ## 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
+### Step 1: Choose a printer
+The STL files provided are 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%
+   3. Infill Density: 15%
    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.
+
+### Step 2: Set up the printer
+   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.
+### Step 3: Check Printer Accuracy
+   1. In the [Gauges](STL/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)
+         1. [Gauge Zero](STL/Gauges/Gauge_0.STL)
+         2. [Gauge Tight](STL/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)
+         1. [Gauge Zero](STL/Gauges/Lego_Size_Test_02_zero.STL)
+         2. [Gauge -0.1](STL/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.
-
+### Step 4: Print the parts
+All the parts for the leader or follower are for easy 3D printing already 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)
+      - [Follower](STL/SO101/Follower/Ender_Follower_SO101.stl)
+      - [Leader](STL/SO101/Leader/Ender_Leader_SO101.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)
+      1. [Follower](STL/SO101/Follower/Prusa_Follower_SO101.stl)
+      2. [Leader](STL/SO101/Leader/Prusa_Leader_SO101.stl)
 
-5. Take Down
+This table contains all individual files:
+<details>
+<summary>Table</summary>
+
+#### Common Parts
+
+| Part                                | Link                                                             |
+|-------------------------------------|------------------------------------------------------------------|
+| Base_motor_holder_SO101.stl         | [Base_motor_holder_SO101.stl](STL/SO101/Individual/Base_motor_holder_SO101.stl)       |
+| Base_SO101.stl                      | [Base_SO101.stl](STL/SO101/Individual/Base_SO101.stl)                                 |
+| Motor_holder_SO101_Base.stl         | [Motor_holder_SO101_Base.stl](STL/SO101/Individual/Motor_holder_SO101_Base.stl)       |
+| Motor_holder_SO101_Wrist.stl        | [Motor_holder_SO101_Wrist.stl](STL/SO101/Individual/Motor_holder_SO101_Wrist.stl)     |
+| Under_arm_SO101.stl                 | [Under_arm_SO101.stl](STL/SO101/Individual/Under_arm_SO101.stl)                       |
+| Upper_arm_SO101.stl                 | [Upper_arm_SO101.stl](STL/SO101/Individual/Upper_arm_SO101.stl)                       |
+| Rotation_Pitch_SO101.stl            | [Rotation_Pitch_SO101.stl](STL/SO101/Individual/Rotation_Pitch_SO101.stl)             |
+| Wrist_Roll_Pitch_SO101.stl          | [Wrist_Roll_Pitch_SO101.stl](STL/SO101/Individual/Wrist_Roll_Pitch_SO101.stl)         |
+| WaveShare_Mounting_Plate_SO101.stl  | [WaveShare_Mounting_Plate_SO101.stl](STL/SO101/Individual/WaveShare_Mounting_Plate_SO101.stl) |
+
+#### Leader‑Specific Parts
+
+| Part                  | Link                                     |
+|-----------------------|------------------------------------------|
+| Handle_SO101.stl      | [Handle_SO101.stl](STL/SO101/Individual/Handle_SO101.stl)     |
+| Trigger_SO101.stl     | [Trigger_SO101.stl](STL/SO101/Individual/Trigger_SO101.stl)   |
+| Wrist_Roll_SO101.stl  | [Wrist_Roll_SO101.stl](STL/SO101/Individual/Wrist_Roll_SO101.stl) |
+
+#### Follower‑Specific Parts
+
+| Part                            | Link                                                         |
+|---------------------------------|--------------------------------------------------------------|
+| Moving_Jaw_SO101.stl            | [Moving_Jaw_SO101.stl](STL/SO101/Individual/Moving_Jaw_SO101.stl)                 |
+| Wrist_Roll_Follower_SO101.stl   | [Wrist_Roll_Follower_SO101.stl](STL/SO101/Individual/Wrist_Roll_Follower_SO101.stl) |
+</details>
+
+### Step 5: Remove support
    1. After the print is done, use a putty knife to scrape the 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
+### Optional Hardware  🔧
 
-Follow the [complete guide of LeRobot](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md).
+Extend your SO‑100/SO‑101 with these add ons
+<details>
+<summary>Add‑ons</summary>
 
-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.
+#### 1. Mount Helper  
+Print the handy mount jig for easier alignment during assembly.  
 
-## Other
+[→ View README](Optional/Mount_Helper/README.md)
 
-### Hardware
+<img src="media/mount_helper.png" alt="Mount Helper" width="150">
 
-**Wrist Cameras**
-| Webcam (Vinmooog) | 32x32mm UVC Module | RealSense™ D405 |
-| --- | ---| --- |
-| <img src="media/cam_mount2.jpg" height="150" > | <img height="150" src="media/UVC_cam_mount.jpeg" /> | <img src="media/d405_mount.jpg" height="150"/> |
-| [Instructions](Optional/Wrist_Cam_Mount_Vinmooog_Webcam) | [Instructions](Optional/Wrist_Cam_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D405) |
+#### 2. Overhead Camera Mount  
+For bird’s‑eye views in single or bi‑manual setups.  
 
-**Mount helper**: You can print this part to make your so100 easier to assemble here: `Optional/Mount_Helper/stl/mount_helper v2.stl`
+[→ View README](Optional/Overhead_Cam_Mount/README.md)
 
-**Tactile sensing**: You can find an AnySkin tactile sensor for the SO100 here: [WOWROBO](https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin)
+<img src="https://github.com/user-attachments/assets/a652e133-8672-448d-baa0-bdd494a0a515"  alt="Overhead Camera Mount" width="150">
 
-**Raised leader base**: You can raise the base of leader arm for easier teleoperation near the ground plane by printing this extension: `Optional/Raised_Leader_Base_SO100/SO100 Leader Base Extension.stl`
+#### 3. Raised Leader Base  
+Lift your leader arm for low‑ground tasks.
 
-- **Back plate motor attachement**: You can attach the WaveShare servo bus controller to you back plate (with smaller holes) by printing it here: `Optional/Backplate_ServoBus/WaveShare_Mounting_Plate.stl`
+[→ Download STL](Optional/Raised_Base/Raised_Base_Extension.stl)
 
-### Software
+<img src="media/Raised_Base.jpeg" alt="Raised Leader Base" width="150">
 
-Check out this Handy [URDF viewer](https://gkjohnson.github.io/urdf-loaders/).
+#### 4. Tactile Sensing (AnySkin)  
+Add touch sensing to your gripper.  
 
-## Debugging motors
+[→ Find on WOWROBO](https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin)
 
+<img src="media/tactile_sensor_anyskin.png" alt="AnySkin Sensor" width="150">
+
+
+#### 5. Wrist‑Mount Cameras
+
+| Webcam (Vinmooog) | 32×32 UVC Module | 32×32 UVC Plug‑on | RealSense D405 |
+|:---------------------:|:-------------------:|:-------------------:|:-------------------:|
+| <img src="media/cam_mount2.jpg" height="100"> | <img src="media/UVC_cam_mount.jpeg" height="100"> | <img src="media/UVC_cam_mount_plugin.jpg" height="100"> | <img src="media/d405_mount.jpg" height="100"> |
+| [Instructions](Optional/Wrist_Cam_Mount_Vinmooog_Webcam) | [Instructions](Optional/Wrist_Cam_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D405) |
+
+</details>
+
+## Debugging motors 
 For debugging, any Windows PC can connect over USB to program the servos and to debug or do tests. To do so download [Feetech Software](https://www.feetechrc.com/software.html). For Ubuntu, you can use [FT_SCServo_Debug_Qt](https://github.com/Kotakku/FT_SCServo_Debug_Qt). Note: This step is not necessary as motors can be configured using the LeRobot Library, but this can be helpful for debugging.
 
-## Footnotes
-
-<a name="myfootnote1">1</a>: The STS3215 arm comes in two sizes. The 7.4V has a stall torque of 16.5kg.cm at 6V (and likely slightly less for a 5V power supply). The 12V version has a stall torque of 30kg.cm. While we found the 7.4V to be sufficient, if you would like more powerful motors you can buy the 12V version [here](https://www.alibaba.com/product-detail/6PCS-12V-30KG-STS3215-High-Torque_1601216757543.html). Note if you do this, you will also have to buy a 12V 5A+ power supply instead of a 5V one, but all other components will remain the same.\
-<a name="myfootnote2">2</a>: You can also use an adjustable laboratory power supply with leads.\
-<a name="myfootnote3">3</a>: You do not need to use this exact screwdriver set, but it is highly recommended to have phillips head screw driver sizes #0 and #1 for easiest screw installation and removal. These are both standard sizes which will likely appear in most small screwdriver sets.\
-<a name="myfootnote4">4</a>: You do not need to buy these exact parts, but a glue stick and putty knife are almost always necessary for a good 3D print. The glue prevents parts from sticking to the print bed, and the putty knife helps scrape parts from the print bed. However, feel free to check with your specific printer instructions for if these parts are necessary.

SO100.md

@@ -0,0 +1,97 @@
+<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 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://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md).
+
+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.