Overview

LeRobot Introduction

LeRobot is a robot development framework launched by Hugging Face, with the core goal of lowering the entry barrier for robotics and providing models, datasets, and toolchains under the PyTorch ecosystem for real-world robotics tasks. Its core competencies include:

Support imitation learning and reinforcement learning, integrating cutting-edge algorithms (such as ACT, Diffusion Policy, etc.);
Provide pre-trained models, human demonstration datasets and simulation environments to start algorithm verification without assembling hardware;
Seamless compatibility with low-cost open-source robotic arms such as SO-ARM100/101, and continuous expansion of support for cost-effective hardware.

As the core hardware of the LeRobot ecosystem, SO-ARM100/101 can quickly realize functions such as data collection, model training, and autonomous capture through the mode of "manual operation by the leader arm+task execution by the follower arm".

Kit Hardware Introduction

The core difference between SO-ARM100 and SO-ARM101 lies in torque performance. The SO-ARM100 is suitable for teaching with lower torque (follower arm bus servo 7.4V, stall torque 19.5kg.cm), and the SO-ARM101 has higher torque (follower arm bus servo 12V, stall torque 30kg.cm) for high-load applications. Multiple package options are also provided (including 3D printing kits, camera kits, Jetson Orin Nano kits), meeting the needs of different scenarios.

SO-ARM100 Series

The SO-ARM100 series has four packages, with the following accessories:

	SO-ARM100 No-3DP Parts Kit	SO-ARM100 3DP Parts Kit	SO-ARM100 CAM Kit	SO-ARM100 Jetson Orin Nano Kit
Servo configuration	ST3215-7.4V Servo * 12
Servo accessories	✅ Provided	✅ Provided	✅ Provided	✅ Provided
SO-ARM100 3D photosensitive resin printing kit	❌ Not provided	✅ Provided	✅ Provided	✅ Provided
Camera accessories	❌ Not provided	❌ Not provided	✅ Provided	✅ Provided
Jetson Orin Nano accessories	❌ Not provided	❌ Not provided	❌ Not provided	✅ Provided
Target audience	Cost-conscious users with access to 3D printing	Users without access to 3D printing	Users who need multi-angle data acquisition and already have a Jetson Orin Nano main control board or their own computer	Users who need an all-in-one solution for efficient AI inference

SO-ARM101 Series

The SO-ARM101 series has five packages, with the following accessories:

	SO-ARM101 No-3DP Parts Kit (SE)	SO-ARM101 3DP Parts Kit	SO-ARM101 3DP Parts Kit (SE)	SO-ARM101 CAM Kit (SE)	SO-ARM101 Jetson Orin Nano Kit (SE)
Servo configuration	ST3215 Servo (SE) + ST3215 Servo	ST3215-HS Servo + ST3215 Servo	ST3215 Servo (SE) + ST3215 Servo
Servo accessories	✅ Provided	✅ Provided	✅ Provided	✅ Provided	✅ Provided
SO-ARM101 3D photosensitive resin printing kit	❌ Not provided	✅ Provided	✅ Provided	✅ Provided	✅ Provided
Camera accessories	❌ Not provided	❌ Not provided	❌ Not provided	✅ Provided	✅ Provided
Jetson Orin Nano accessories	❌ Not provided	❌ Not provided	❌ Not provided	❌ Not provided	✅ Provided
Target audience	Cost-conscious users with access to 3D printing	Users without access to 3D printing	Budget-friendly users without access to 3D printing	Users who need multi-angle data acquisition and already have a Jetson Orin Nano main control board or their own computer	Users who need an all-in-one solution for efficient AI inference

SO-ARM100/101 Tutorials

Resources

Robotic Arm STEP Model

Support

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SO-ARM100/101

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