WSAL33395 – SO-ARM100 – 101/en

Documentation notice: This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

Summary

The SO-ARM100/101 is an open-source 6-axis robotic arm with native support for the Hugging Face LeRobot framework. It uses high-torque bus servos and 3D-printed parts made from photosensitive resin.

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WSAL33379 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33380 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33381 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33382 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33384 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33385 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33386 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33387 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33388 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33389 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33390 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33391 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33392 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33393 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33395 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33396 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts
WSAL33397 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts

Technical overview

LeRobot is a robot development framework by Hugging Face that provides models, datasets, and toolchains under the PyTorch ecosystem for real-world robotics tasks.
It supports imitation learning and reinforcement learning using algorithms such as ACT and Diffusion Policy.
The system enables data collection, model training, and autonomous capture via the “manual leader arm + automatic follower arm” configuration.
SO-ARM100 uses bus servos at 7.4 V with a stall torque of 19.5 kg·cm; suitable for teaching with lower load.
SO-ARM101 uses bus servos at 12 V with a stall torque of 30 kg·cm; suitable for higher-load applications.
The SO-ARM100 series offers four package options: no 3D-printed parts, with 3D-printed parts, camera kit, and Jetson Orin Nano kit.
The SO-ARM101 series offers five package options: no 3D-printed parts (SE), with 3D-printed parts, with 3D-printed parts (SE), camera kit (SE), and Jetson Orin Nano kit (SE).
Both series provide STEP models for 3D-printing the mechanical components.

Notes and version constraints

More detailed installation, calibration, or remote-control steps are not included in this source; they are found in separate tutorials (e.g., setting up the LeRobot environment, setting servo IDs, assembly, calibration, dataset recording).
Package labels such as “(SE)” may indicate regional or distribution variants; their exact meaning should be clarified before purchase.
The voltage values (7.4 V vs. 12 V) apply to the respective servo configurations; the actual power supply must be selected accordingly.
Before operation, all 3D-printed parts should be checked for fit and the servo IDs must be set correctly.

Source and revision record

SO-ARM100/101 - Waveshare Wiki
Source revision: 109704
Captured: 2026-08-29T08:38:50+00:00
SHA-256: 21cc7bf9a4cc2bd96725126e0c74b93d854cbc307ee22fbfdef200b45e2fc5ac