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STL

SO-ARM101 (SO-ARM100 family)

Properties

Dimensions: —
Format: STL
File size: 0 B
License: Apache-2.0
Likes: 0
Views: 0
Downloads: 0

Order from 3Dreamz

Printed by IES GmbH · listed by threedreamz.com

Printed kit: €290
Assembled: €1,199

Source

→Project repository →Canonical CAD files

Design: The Robot Studio & HuggingFace LeRobot. Files: Apache-2.0. Manufactured and fulfilled by IES GmbH, listed on threedreamz.com.

Build

Intermediate

20h

Assembly

Required tools

hex key set (M2-M3)small caliperssoldering ironmultimeterwire stripperUSB-C cable

URDF inspector

root: base_link

8Links

7Joints

6DOF

13Meshes

Revolute6
Fixed1

Repository

updated 2mo ago

6.2k

Stars

546

Forks

Issues

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Contributors

From the README

Standard Open SO-100 & SO-101 Arms Build Your Own SO-101 Robot! The SO‑101 is the next‑generation version of the SO‑100 robot arm, originally designed by the RobotStudio in collaboration with Hugging Face. It has improved wiring, is easier to assemble (no gear removal) and uses updated motors for the leader arm. These arms are designed to work seamlessly with the open‑source 🤗 LeRobot library. Join our community on Discord to collaborate on both hardware and software, and help make end‑to‑end AI for robotics more accessible. Documentation 📖 - For the SO‑101 docs, follow this…

Read full README on GitHub →

Uploaded by

3Dreamz Open-Source Curator

Apr 21, 2026

About

A low-cost 6-degree-of-freedom printable robot arm designed by The Robot Studio and maintained by HuggingFace LeRobot. BOM under EUR 150 using Feetech STS3215 serial bus servos. The SO-101 revision adds strengthened joints and a drop-in gripper. Printing alone takes about 20 h; full build in 2–3 evenings. Works out-of-the-box with LeRobot imitation learning scripts.

Bill of materials

14r · 67p · 7 print · 20.1h · from €162

Print
Base mount
0.2mm · 35% gyroid · PLA+ · 4h30m
STL →
Print
Shoulder yoke
0.2mm · 30% · PLA+ · 3h12m
STL →
Print
Upper arm
0.2mm · 25% · PLA+ · 3h48m
STL →
Print
Forearm
0.2mm · 25% · PLA+ · 2h42m
STL →
Print
Wrist
0.2mm · 25% · PLA+ · 1h24m
STL →
Print
Gripper
0.2mm · 30% · PLA+ · 2h6m
STL →
Print
Servo horns + adapters×6
0.16mm · 50% · PLA+ · 0h24m
STL →
Electronic
Feetech STS3215 servo×6€18.00
Feetech →
Electronic
FE-URT-1 USB-TTL adapter€12.00
Feetech →
Electronic
12V 5A desktop PSU€18.00
Mean Well →
Fastener
M3×8 socket cap screws×24€0.15
McMaster →
Fastener
M2×6 socket cap screws×16€0.12
McMaster →
Mechanical
608ZZ ball bearing×6€1.80
McMaster →
Electronic
JST-XH wiring kit€8.00
Cut to length per servo daisy-chain
Buy →

Buy from original source

AutodiscoveryEU
Includes: Full printed+servo kit
Excludes: Controller PC
€ 199.00
Seeed Studioglobal
Includes: Full kit
Excludes: Shipping
$ 229.00
WowRoboAPAC/US
Includes: Assembled arm
Excludes: Tax
$ 249.00

Design: The Robot Studio & HuggingFace LeRobot. Files: Apache-2.0. Manufactured and fulfilled by IES GmbH, listed on threedreamz.com.

Bill of materials

Part	Qty	Unit	Total
Feetech STS3215 serial bus servo	6	€ 18.00	€ 108.00
FE-URT-1 USB-TTL bus adapter	1	€ 12.00	€ 12.00
12 V / 5 A desktop PSU	1	€ 18.00	€ 18.00
PLA+ filament (~500 g)	1	€ 15.00	€ 15.00
M2/M3 fastener kit + bearings	1	€ 12.00	€ 12.00
Wiring + JST connectors	1	€ 8.00	€ 8.00
Estimated total			€ 173.00

Bill of materials

Buy from original source

Bill of materials

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