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SO101 Follower Components
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LeRobot SO(101) - AI Robotics Starter Kit

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Train AI for the real world

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LeRobot SO(101): Train AI for the Real World

Dive into the future of robotics! The LeRobot SO(101) Kit is your entry point into developing state-of-the-art AI for real-world applications. Developed in collaboration with Hugging Face, this ecosystem combines affordable, open-source robot hardware with a powerful PyTorch-based library to make Imitation Learning and Reinforcement Learning accessible to everyone.

At its core is the SO(101), a 3D-printable dual robotic arm specifically designed for data collection through teleoperation (remote control). With a leader arm, you intuitively control the follower arm, creating high-quality datasets of your actions. These demonstrations are saved in the standardized LeRobotDataset format and can be directly shared on the Hugging Face Hub and used to train AI models like ACT (Action Chunking with Transformers).

  • Open-Source Hardware

  • Built for Imitation Learning

  • Seamless Software Integration

  • Growing Community

 

Hackathon

 

Are you participating in a hackathon? Talk to your organizer and ask for a discount code.

Are you organizing a hackathon and want to provide participants with the right components? Contact us to ensure you have enough SO-101 kits for your event.

 

SO-101 Kit Contents

  • 3D Parts (Follower

  • 3D Parts (Leader)

  • 7x STS3215 Servo 7.4V, 1/345 gear (C001)

  • 2x STS3215 Servo 7.4V, 1/191 gear (C044)

  • 3x STS3215 Servo 7.4V, 1/147 gear (C046)

  • 2x Motor Control Boards

  • 2x USB-C Cables

  • 2x Power Supply Cables

  • 2x Table Clamps

Should you for example only order the Follower, the delivery will be adjusted accordingly e.g.: 

  • 6x STS 3215 1/345
  • 1x Motor Control Board
  • 1x USB-C Cable
  • 1x Power Supply
  • 1x Table Clamp 

Assembly

The best guide to build the SO101 is on the project site of Hugging Face. Full kits aren't calibrated.

Pay attention to the Motors when assembling the arm. The backside of the packaging of each motor will list the Code.

Motor Packaging Backside

The motor itself shows the gear ratio: 

Gear Ratio Motor Front View

 Joint Motor ID Gear Ratio / Code
Base / Shoulder Pan 1 1:191 (C044)
Shoulder Lift 2 1:345 (C001)
Elbow Flex 3 1:191 (C044)
Wrist Flex 4 1:147 (C046)
Wrist Roll 5 1:147 (C046)
Gripper 6 1:147 (C046)


References & Inspiration 

Below you will find more information about the SO-101:

Images by Hugging Face