SO-100 (SO-ARM100)

Original Standard Open Arm 100: a 3D-printable 6-DOF low-cost arm that served as the first reference hardware for LeRobot; superseded by the SO-101.

Frames · SO-100 (SO-ARM100)

6 items · credit and license on each

Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/trs_so_arm100 (Apache-2.0) · Hyperspawn render · source
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/trs_so_arm100 (Apache-2.0) · Hyperspawn render · source
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/trs_so_arm100 (Apache-2.0) · Hyperspawn render · source
From the SO-ARM100 repo media folder.The Robot Studio (SO-ARM100) · Apache-2.0 · source
Build guide for Standard Open ARM 100 5DOF - Low cost DIY 3dprinted robot arm Le Robot Hugging Facetherobotstudio · official embed · source
Assemble and Calibrate SO-100: LeRobot Tutorial #7 by Jess MossHugging Face · official embed · source

Provenance

No browser-ready model packaged yet.

The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.

Policies listed for SO-100 (SO-ARM100)

SmolVLA base (pretrained VLA to fine-tune on your own SO-100 dataset)
LeRobot (SmolVLA) · not replayed in the tab
source
SO-100/101 language-conditioned manipulation (VLA, zero-shot or fine-tune)
LeRobot (MolmoAct2) · not replayed in the tab
source

Train on GPUs

mjlab ships no stock task for SO-100 (SO-ARM100). The training page gives you the pinned model and the steps to write a robot config.

Build the job →