Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Desktop arm · Hugging Face LeRobot / TheRobotStudio
SO-101 follower arm
Markdown table · commit-addressable.
No complete rebuild evidence package found.
The robot name is not the version boundary.
RCI preserves the exact source surface and revision conditions instead of applying one prototype or current product page to every unit.
Platform boundary
SO-101 follower arm
SO-101 follower arm at the selected LeRobot documentation and SO-ARM100 repository commits; 7.4 V servo variant boundary retained.
Version state
Addressable source snapshot
The current SO-101 material is commit-addressable but not bound to an SO-101 release tag; the repository’s only selected release predates the current SO-101 main branch.
Lifecycle boundary
Changes remain attached to the source.
LeRobot calls SO-101 the current flagship and the repository documents the move from SO-100; the current material also distinguishes 7.4 V and 12 V servo variants.
Responsibility party
Hugging Face LeRobot / TheRobotStudio
RCI maps the named public responsibility party; inclusion does not imply endorsement, partnership or unit-level verification.
1 bounded lifecycle or procurement relations.
Replacement, upgrade, EOL and regional procurement signals remain separate from current availability and as-built identity.
version-upgrade
SO-100 robot arm → SO-101 robot arm
The pinned responsibility-party repository calls SO-101 the next-generation version of SO-100 and marks the retained SO-100 documentation as deprecated.
System impact: Wiring, assembly procedure and leader-arm motor selection changed; SO-100 evidence must not be silently applied to the SO-101 follower configuration.
Open: The selected source does not publish a field-by-field migration BOM, serial cutover, drop-in upgrade guarantee or RCI physical comparison.
Strongest supported conclusion
Exact servo variants and gear ratios, regional procurement links, voltage warning, assembly guidance, and downloadable STL/STEP/URDF assets.
Largest rebuild gap: No release-tagged BOM snapshot, unit-level as-built manifest, or independent rebuild package is tied to the current list.
Editorial boundary: A commit-pinned current list narrows what RCI audited, but it does not prove that every linked item is available, substituted parts are qualified, or one built arm matches the list.
Twelve gates separate a parts list from a rebuild package.
Partial means a source contains useful material but does not close the exact revision, quantity, part identity or unit-level boundary.
| Evidence dimension | State | What the state means here |
|---|---|---|
| Exact platform revision | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Versioned BOM snapshot | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Line-item quantities | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Manufacturer part numbers | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Supplier links | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Custom-part production files | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Electrical interconnect definition | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Software / firmware binding | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| License boundary | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Change, EOL and substitution history | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Unit-level as-built manifest | Not published | The selected sources do not publish this evidence dimension. |
| Independent rebuild evidence | Not published | The selected sources do not publish this evidence dimension. |
TheRobotStudio SO-ARM100 README procurement table plus SO-101 printable-part lists
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
17 rows / list items
Six follower-arm procurement rows excluding the Total row, plus eleven individually listed common and follower-specific printable parts. Tools and fixtures remain inside the procurement-table publication boundary.
Format
Markdown table
RCI did not treat the publication format as a normalized database table.
Next evidence gate
Normalize without inventing.
Resolve exact part identity, quantity scope, placement, revision and substitution state while retaining nested assemblies, alternatives and generic groups as explicit boundaries.
As-built state
Not published
A public list does not establish what one serialised unit actually contained.
No manufacturer identity is safely linked from the selected rows.
These are responsibility-party BOM mentions, not partnership, endorsement, verified supply or exact-component equivalence.
Generic or unregistered identities remain unlinked.
RCI will add a relationship only after the source publishes a manufacturer identity that maps unambiguously to the directory.
5 bounded nodes and 4 source-supported interface relations.
RCI publishes a connection only when the selected responsibility-party source explicitly supports the endpoints or architecture. A BOM co-occurrence, component capability or engineering convention is not enough.
external-host node
External LeRobot host computer
Computer used to discover the MotorBus USB port, configure motor IDs and baud rate, calibrate and operate one SO-101 follower arm at the pinned LeRobot revision.
Identity boundary: The selected BOM does not publish a host SKU, operating-system image, USB controller, LeRobot environment lock, physical port or serialised computer.
Source rows: so101-follower-usb-c-cable-bundle
control node
Follower MotorBus controller board
One follower-arm Motor Control Board connected to the host over USB and to the first servo through a three-pin cable.
Identity boundary: The BOM row is generic. The setup guide mentions a Waveshare-board jumper condition only as a conditional instruction; it does not prove every BOM instance is one exact Waveshare orderable model or hardware revision.
Source rows: so101-follower-motor-control-board, so101-follower-usb-c-cable-bundle
actuation node
Six-servo STS3215 follower chain
Six STS3215 7.4 V, 1/345, C001 follower-arm servos with unique IDs 1–6 and a common bus baud rate after setup.
Identity boundary: Variant names and quantity are published, but no manufacturer part number separate from STS3215/C001, serials, EEPROM dump, firmware, calibrated offsets, cable identities, wear state or measured torque are bound to one arm.
Source rows: so101-follower-sts3215-c001
assembly node
Pinned SO-101 follower printed-arm assembly
Eleven pinned follower/common STL file identities plus the table-clamp fixture boundary for one SO-101 follower arm.
Identity boundary: The selected file list does not publish print count per STL, material lot, slicing profile, printer, dimensions, tolerances, fastener manifest, post-processing or one inspected as-built arm.
Source rows: so101-follower-base-motor-holder, so101-follower-base, so101-follower-base-motor-holder-plate, so101-follower-wrist-motor-holder, so101-follower-under-arm, so101-follower-upper-arm, so101-follower-rotation-pitch, so101-follower-wrist-roll-pitch, so101-follower-waveshare-mounting-plate, so101-follower-moving-jaw, so101-follower-wrist-roll, so101-follower-table-clamp-bundle
power node
Follower external power-supply boundary
One supply connected to the follower controller board. The selected follower BOM is the 7.4 V-servo configuration; project notes separately describe a 12 V servo option requiring a 12 V / 5 A-or-greater supply.
Identity boundary: The follower BOM row does not state an exact supply SKU, output voltage/current, connector, polarity, protection, regulatory variant or measured loaded output; the optional 12 V path is not merged into this 7.4 V servo profile.
Source rows: so101-follower-power-supply
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| External LeRobot host computer → Follower MotorBus controller boardbidirectional | data-controlUSB host-to-MotorBus controller path | The pinned LeRobot setup requires connecting MotorBus to the computer over USB, discovers its serial port and then uses that port for follower setup and calibration.huggingface/lerobot commit d23b65416ff1042a7268eea6e3671d18ec37d29d plus TheRobotStudio/SO-ARM100 commit 7629d2ad9853d10fb903093a33ef6114099d97e5 | Controller model/revision, USB connector pairing, cable data capability, host port, USB descriptor, driver, device mapping and latency are not frozen. RCI has not enumerated this controller or run LeRobot against a physical SO-101 arm.Physical validation: none. |
| Follower MotorBus controller board → Six-servo STS3215 follower chainbidirectional | data-controlThree-pin controller-to-servo link and six-device daisy chain | The pinned guide explicitly requires a three-pin cable from controller to motor, assigns each motor a unique ID, requires one common baud rate and then instructs chaining each motor to the next with shoulder-pan ID 1 connected first to the controller.huggingface/lerobot commit d23b65416ff1042a7268eea6e3671d18ec37d29d plus TheRobotStudio/SO-ARM100 commit 7629d2ad9853d10fb903093a33ef6114099d97e5 | Exact cable count/length, pinout, chain order beyond the first servo, physical IDs, baud-rate value, EEPROM state, feedback timing and error recovery are not frozen. RCI has not inspected wiring, captured bus traffic or moved any joint.Physical validation: none. |
| Follower external power-supply boundary → Follower MotorBus controller boardsource-to-target | powerExternal supply to follower controller board | The follower setup instruction explicitly requires connecting the power supply to the follower arm controller board before configuring motors.huggingface/lerobot commit d23b65416ff1042a7268eea6e3671d18ec37d29d plus TheRobotStudio/SO-ARM100 commit 7629d2ad9853d10fb903093a33ef6114099d97e5 | Exact voltage/current, connector, polarity, fuse, current limit, grounding, USB/backfeed behavior and controller-board protection are not published for the selected BOM row. RCI has not applied power or measured the controller input.Physical validation: none. |
| Follower external power-supply boundary → Six-servo STS3215 follower chainsource-to-target | powerController-board-fed follower servo power surface; exact rail path unpublished | The setup sequence powers the controller board while connecting one motor at a time through the three-pin link, then directs the operator to daisy-chain all six motors for use. This supports a controller-fed servo power surface but not an exact internal power schematic.huggingface/lerobot commit d23b65416ff1042a7268eea6e3671d18ec37d29d plus TheRobotStudio/SO-ARM100 commit 7629d2ad9853d10fb903093a33ef6114099d97e5 | Rail voltage at each motor, current distribution, wire gauge, connector rating, voltage drop, stall margin, thermal behavior and optional 12 V-variant separation are not physically verified. RCI has not instrumented any servo supply rail.Physical validation: none. |
17 source items converted into claim-bounded records.
Identity, quantity and installed-hardware boundaries remain separate fields; a generic source label is never promoted to an exact orderable model.
| Source item | Class | Identity | Quantity boundary | Role + unresolved evidence |
|---|---|---|---|---|
| STS3215 Servo 7.4V, 1/345 gear (C001)Parts for One Follower Arm | actuationInstalled / build item | variant-namedSTS3215 · 7.4 V · 1/345 gear · C001 | 6 unitSix servos are published for one follower arm at the selected source revision. | Six-axis follower-arm actuationThe selected table does not publish a manufacturer part number separate from STS3215 and variant code C001. No unit serials or lot revisions are bound to the list. |
| Motor Control BoardParts for One Follower Arm | controlInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne board is published for one follower arm. | Host-to-servo control interfaceExact board identity and hardware revision are not stated in the row label. Connector and firmware revision are not bound to the BOM row. |
| USB-C Cable 2 pcsParts for One Follower Arm | cableInstalled / build item | generic-descriptionNo exact identity published | 1 bundleThe table publishes amount 1 for a row labelled “USB-C Cable 2 pcs”; RCI preserves one bundle containing two cables rather than silently converting it to two line items. | Power / data cabling between the host, controller and arm setupExact connector pair, length and electrical rating are not published in the BOM label. |
| Power SupplyParts for One Follower Arm | powerInstalled / build item | generic-descriptionFollower-arm table is inside the selected 7.4 V servo boundary | 1 unitOne supply is published for one follower arm. | External arm power sourceExact voltage, current rating, connector, polarity and regulatory variant are not stated in the row label. |
| Table Clamp 2 pcsParts for One Follower Arm | fixtureInstalled / build item | generic-descriptionNo exact identity published | 1 bundleThe table publishes amount 1 for a row labelled “Table Clamp 2pcs”; RCI preserves the bundle boundary. | Work-surface mounting fixtureThe source does not bind the clamps to a structural load limit or table-thickness range. |
| Screwdriver SetParts for One Follower Arm | toolBuild tool, not installed hardware | generic-descriptionPhillips #0 and #1 recommended in the selected source note | 1 unitOne tool set is listed; the source note says the exact set is not required. | Assembly and removal toolNo exact tool model is required by the responsibility party. |
| Base_motor_holder_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedBase_motor_holder_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Base_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedBase_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Motor_holder_SO101_Base.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedMotor_holder_SO101_Base.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Motor_holder_SO101_Wrist.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedMotor_holder_SO101_Wrist.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Under_arm_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedUnder_arm_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Upper_arm_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedUpper_arm_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Rotation_Pitch_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedRotation_Pitch_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Wrist_Roll_Pitch_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedWrist_Roll_Pitch_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| WaveShare_Mounting_Plate_SO101.stlIndividual Part Files / Common Parts | custom-mechanicalInstalled / build item | file-identifiedWaveShare_Mounting_Plate_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure used by leader and follower variantsAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Moving_Jaw_SO101.stlIndividual Part Files / Follower-Specific Parts | custom-mechanicalInstalled / build item | file-identifiedMoving_Jaw_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure specific to the follower variantAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
| Wrist_Roll_Follower_SO101.stlIndividual Part Files / Follower-Specific Parts | custom-mechanicalInstalled / build item | file-identifiedWrist_Roll_Follower_SO101.stl · SO-101 follower arm | Not publishedThe selected file list names the part but does not publish the number of printed copies required for one follower arm. | Printed structure specific to the follower variantAs-built printed quantity is not published in the selected list. No unit-level print manifest binds one physical arm to this file revision. |
Every conclusion returns to a selected source.
Links point to the responsibility party's material. RCI does not republish third-party BOM rows, CAD or retailer content through this profile.
LeRobot SO-101 documentation ↗
SO-101 identity, flagship status, build boundary and links to official hardware material
Commit d23b654 · 2026-07-30TheRobotStudio SO-ARM100 hardware README ↗
Follower-arm procurement rows, servo variants, regional links, voltage warning and printable-part lists
Commit 7629d2a · 2026-08-05TheRobotStudio SO-ARM100 repository ↗
CAD, printable parts, URDF, repository activity and Apache-2.0 repository license metadata
Correction path
Know a newer revision or an exact as-built record?
Corrections must identify the platform revision, source location and the exact field affected. Manufacturer or project-party clarification is displayed alongside independently sourced evidence without replacing the original boundary.
Send a documented correction →