
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.
Stars: 69

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.
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.
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 |
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.
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 |
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 |
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.
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.
For wrist cameras, haptic sensors, and other modules, see SO-ARM100 Accessories for compatible components.
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 |
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 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 version of the SO-ARM100 with two arms.
Price | US | EU | RMB |
---|---|---|---|
Total | ~ $300 | ~ €300 | ~ ¥2000 |
Miniature version of the BDX Droid by Disney.
~€410
A project for a full body robot—currently featuring the torso and arms.
Parallel-finger gripper compatible with SO-ARM100.
~€25
Precise gripper compatible with SO-ARM100.
It provides an additional axis to the SO-ARM100 robot arm.
Hardware in this family uses Dynamixel servo motors, which are considered more of an industry standard than Feetech motors.
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 |
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 |
- Robotic arm inspired by Kochv-1-1: WOWROBO Twinarm
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.
~$27,000
- "T" for push T task.
- A "toaster" with 2 pieces of "toast".
- A paper towel base & rod + paper towel roll.
- Cube.
- Ring.
To increase friction on gripper.
Hardware that attaches to the back of your hand and fingertips that tracks 16 degrees of freedom. Compatible with HOPEJr hands.
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 |
- https://www.amazon.co.uk/ELP-Conferencing-Fisheye-0-01Lux-Computer/dp/B08Y1KY5T9?th=1
- https://www.amazon.com/dp/B07CSJN2KH
Interested in contributing? Please take a moment to review our CONTRIBUTING.md for guidelines on how to get started.
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