lerobotdepot

lerobotdepot

LeRobotDepot is a community-driven repository listing open-source hardware, components, and 3D-printable projects compatible with the LeRobot library. It helps users easily discover, build, and contribute to affordable, accessible robotics solutions powered by state-of-the-art AI.

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README:

Welcome to LeRobotDepot. This repository is listing open-source hardware, components, and 3D-printable projects compatible with the LeRobot library. It helps users easily discover, build, and contribute to affordable, accessible robotics solutions powered by state-of-the-art AI.

Table of Contents


Feetech Family

Hardware in this family uses Feetech motors—specifically, the STS3215 series available in both 7.4V and 12V variants. These motors are popular for their balance between performance and cost:

  • 7.4V Version: Typically offers a stall torque of approximately 16.5 kg·cm at 6V. This option is often sufficient for basic robotics applications.
  • 12V Version: Delivers around 30 kg·cm of stall torque, providing increased power for more demanding tasks.

By standardizing on the STS3215, projects in the Feetech Family maintain similar power and control characteristics, ensuring compatibility across accessories and modules.

Robot Arms:

This 5 DOF arm is the recommended arm to get started with LeRobot—especially the 7.4V version.

Price US EU RMB
Follower and Leader arms $232 €244 ¥1343.16
One Arm $123 €128 ¥682.23

Accessories

For detailed information on the various accessories available for the SO-ARM100, including mounting options and additional components, please refer to the SO-ARM100 repository’s hardware documentation.

Wrist Cameras

The SO-ARM100 supports multiple wrist camera options to suit a variety of applications. There are three officially supported options and one community-developed alternative:

Camera Name Reference Link Notes
Vinmooog Webcam SO-ARM100 Instructions
32x32mm UVC Module SO-ARM100 Instructions
Arducam 5MP Wide Angle Le Kiwi STL File It can also be used with 32x32mm UVC modules, but if you don't use a wide-angle camera, the gripper will not appear in the camera view.
RealSense™ D405 SO-ARM100 Instructions
RealSense™ D435 STL File
Haptic Sensors
Others

Kits

You can find kits for the SO100 arms here:

Both assembled and non-assembled kits are available, depending on the supplier.


This 5 DOF arm is similar to the SO-ARM100 but uses only the gripper as a 3D printed part. It is recommended to build or purchase the SO100 arm instead. While the Moss v1 robot is still supported, it will be deprecated. Additionally, 3D-printed parts for the SO-ARM100 are now available for purchase if you don't have a printer.

Price US EU RMB
Follower and Leader arms $288 €274 ¥1631.46
One Arm $159 €153 ¥868.13

Accessories

See SO-ARM100 Accessories for compatible components and mounts.


This is a 6 DOF arm, based on the SO-ARM100 leader and follower arms, with an additional joint enabled by one more STS3215 servo motor.

Price

The price is roughly equivalent to the SO-ARM100, plus the cost of one extra Feetech servo motor—either 7.4V or 12V, depending on your chosen configuration.

Accessories

For wrist cameras, haptic sensors, and other modules, see SO-ARM100 Accessories for compatible components.


SAM arm

This is a 6 DOF arm, developed by the community around the SimpleAutomation repository. It is a refined version of the SO-ARM100, offering enhanced movement precision and a gripper better optimized for handling small objects.

Price US
Follower and Leader arms ± $450

Bi-manual Arms

AB-SO-BOT is built using a combination of 3D-printed parts and standard 4040-T-slot aluminium extrusion to create a flexible and modular body for the SO-ARM100 robotic arm. This modularity allows for easy customization, expansion, and adaptation for different robotic applications.


Mobile Arms

Mobile version of the SO-ARM100.

Price US EU
12V $488.21 €542.56
5V $524.95 €525.9
Base only (5V) $251.95 €306.9
Base only (12V) $257.43 €305
Base only wired $174 €233.3

Mobile Bi-manual Arms

Mobile version of the SO-ARM100 with two arms.

Bambot, open source, low-cost humanoid ($300)

Price US EU RMB
Total ~ $300 ~ €300 ~ ¥2000

Bipedal Robots

Miniature version of the BDX Droid by Disney.

Price

~€410


Humanoid Robots

A project for a full body robot—currently featuring the torso and arms.


Grippers & Accessories

Parallel-finger gripper compatible with SO-ARM100.

Price:

~€25


Precise gripper compatible with SO-ARM100.


It provides an additional axis to the SO-ARM100 robot arm.


Dynamixel Family

Hardware in this family uses Dynamixel servo motors, which are considered more of an industry standard than Feetech motors.

Robot Arms:

The Koch-v1-1 is a 5 DOF robotic arm. If you want to familiarise yourself with more industry standard Dynamixel servo motors, this project could be a good starting point. Compared to the SO-ARM100, you will have less torque and a more limited range of movement from its base.

Price US EU UK RMB JPY
Follower and Leader arms $477 €673 £507 ¥3947 ¥22439
Leader Arm $278 €368 £285 ¥2251 ¥15446
Follower Arm $199 €305 £222 ¥1696 ¥6993

Accessories

Wrist Cameras

The Koch-v1-1 supports 2 wrist camera options:

Camera Name Reference Link Notes
SVPRO 1080P Discord Message with STL file
N/A WOWROBO Gripper-Camera Kit Kit including the gripper, the camera mount and the camera
Haptic Sensors

Kits


Bi-manual Arms:

ALOHA 2 is a bimanual teleoperation system that uses two types of arms—a pair of smaller, ergonomically designed leader arms and two robust follower arms—to support coordinated dual-arm manipulation. Each arm offers 6 degrees of freedom (6 DOF), which provides an extensive range of motion for accessing various positions and orientations.

The system is designed for research in fine-grained bimanual manipulation. Its construction includes enhanced gripper mechanisms, a passive gravity compensation system, and a rigid frame that supports precise and repeatable operations for complex tasks. These advanced features and components are reflected in its higher cost compared to more basic robotic arm solutions.

Price

~$27,000

Kits


Common Accessories & Add-ons

Task kits

  • "T" for push T task.
  • A "toaster" with 2 pieces of "toast".
  • A paper towel base & rod + paper towel roll.
  • Cube.
  • Ring.



Other

To increase friction on gripper.


Teleoperation

Hardware that attaches to the back of your hand and fingertips that tracks 16 degrees of freedom. Compatible with HOPEJr hands.


Cameras

Name Price Range Link Resolution FPS Wide Angle Microphone
Innomaker 1080P USB2.0 ± $18, €16 Innomaker Link 1920×1080 30 Fov(D) = 130°
Fov(H) = 103°
No
Innomaker 720p USB2.0 ± $10, €14 Innomaker Link 1280×720 30 FOV (D) = 120°
FOV (H) = 102°
No
Innomaker OV9281 USB 2.0 ± $36, €42 Innomaker Link 1280×800 120 FOV Up to 148° No
Vinmooog Webcam ± $14, €12 Amazon Link 1920×1080 N/A N/A Yes

Others


Contributing

Interested in contributing? Please take a moment to review our CONTRIBUTING.md for guidelines on how to get started.

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