SO-101 leader + follower · LeRobot · Feetech
Build an SO-101 leader–follower setup
Prepare two arms, configure and calibrate their motors, then control the follower by moving the leader.
Multi-module setup and debugging
What you will build
Set up desktop teleoperation and explore joint control, motor buses and calibration.
Before you start
- Use a terminal and a Python environment, follow assembly diagrams and check wiring.
Model and software requirements
- This is one leader and one follower, not two cooperating work arms. The leader uses three gear ratios.
- BOM snapshot: a758567c3978dfeefe282ede0500085a48fe8f78. LeRobot reference snapshot: ae2b57f12223c8c5184fcd814eb63cd9ce7de203 (Python ≥3.12). Record the version actually installed.
- Web tutorials are updated over time. Follow the installation and Feetech requirements for the selected code version rather than combining old commands with a new environment.
Similar products, older hardware and other software versions are not automatically interchangeable.
Materials & equipment checklist
Check items as you prepare them. Follow each source for part specifications, kit contents and assembly requirements.
0 of 11 required materials ready
Checks stay on this page only and are not uploaded. Refreshing or leaving resets them.
Required materials
- × 7
Six for the follower and one for the leader in the documented configuration.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 2
For the leader; match the joint positions in the assembly guide.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 3
For the leader; not interchangeable with the other ratios in this build.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 2
One for each arm; choose the documented controller and matching connectors.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 2
One connection per controller; the BOM lists a two-cable pack.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 2
One per arm in the standard configuration. 7.4 V identifies the selected motor version, not the supply output. Match the controller's connector and polarity requirements.
Material referencehttps://wiki.seeedstudio.com/cn/lerobot_so100m/ - × 4
The BOM lists one four-clamp pack.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 1
The maker recommends Phillips #0 and #1.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 1
Use the SO101 Leader files, not SO100 parts.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md - × 1
Use the SO101 Follower files.
Material referencehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md Check against the assembly guide and selected motor pack. The BOM does not give a universal separate purchase quantity.
Material referencehttps://huggingface.co/docs/lerobot/en/so101
Equipment & tools
- Prepare a computer with two usable controller connections and a stable work surface. Buy the printed parts or use a printing service; owning a printer is not required.
- Check fasteners, horns and three-pin motor cables in the chosen motor package; suppliers may include different accessories.
Build route
Follow the original instructions in order. This overview does not replace wiring diagrams or calibration procedures.
- 1
Check the selected configuration
Verify the leader ratios and both printed-parts sets before ordering.
Open this step - 2
Prepare parts and tools
Follow the printed-parts instructions and check the fasteners supplied with the motors.
Open this step - 3
- 4
Configure each motor
Identify controller ports and follow the guide's individual motor-ID setup before daisy-chaining.
Open this step - 5
- 6
Start basic teleoperation
Use your real port names and arm IDs in the official teleoperation flow.
Open this step
First-run checks
- The two controller ports are distinguished and both arms connect.
- Both arms complete the official calibration procedure.
- Leader motion controls the follower, including the intended gripper direction.
Outside this project's scope
- No autonomous perception, policy training or automatic grasping is included. Cameras are not required for the selected basic teleoperation task.
Assembly and operation notes
- Configure only the motor requested by the setup script. Check power and connections before each prompt.
- Do not swap leader gearing or apply a 12 V follower supply to the selected base setup. Follow the original mechanical and calibration instructions.
What to include in your budget
- Include both arms, printed parts or printing service, missing accessories, tools and shipping. A historical BOM total is not a current quotation.
Original documentation and code
- Pinned SO-101 BOM and print filesPublic resourcehttps://github.com/TheRobotStudio/SO-ARM100/blob/a758567c3978dfeefe282ede0500085a48fe8f78/README.md
- SO-101 assembly and calibrationPublic resourcehttps://huggingface.co/docs/lerobot/en/so101
- Standard configuration and power specificationsPublic resourcehttps://wiki.seeedstudio.com/cn/lerobot_so100m/
- LeRobot installationPublic resourcehttps://huggingface.co/docs/lerobot/en/installation
- Basic teleoperationPublic resourcehttps://huggingface.co/docs/lerobot/en/il_robots#teleoperate
- LeRobot reference code snapshotPublic resource
A source reference, not a hardware-tested environment. Local basic teleoperation does not require dataset upload.
https://github.com/huggingface/lerobot/tree/ae2b57f12223c8c5184fcd814eb63cd9ce7de203
Sources accessed: 2026-10-14. This page is compiled from the original documentation and has not been hardware-tested by RoboFacet. Check the original source for kit contents, prices and software updates.