> ## Documentation Index
> Fetch the complete documentation index at: https://mintlify.com/huggingface/lerobot/llms.txt
> Use this file to discover all available pages before exploring further.
# SO-100
> Compact robotic arm in the SO follower series
The SO-100 is a compact 6-DOF robotic arm that shares the same software interface as the SO-101. It uses Feetech STS3215 servo motors and is designed for teleoperation and imitation learning.
## Overview
The SO-100 is functionally identical to the SO-101 from a software perspective, sharing the same codebase and configuration options. The main differences are in the physical form factor and assembly.
### Features
* 6 degrees of freedom (5 arm joints + gripper)
* Feetech STS3215 servo motors
* USB serial communication
* Shared implementation with SO-101
* Position control mode
* Optional camera integration
## Quick Start
Since SO-100 uses the same `SOFollower` class as SO-101, refer to the [SO-101 documentation](/robots/so-101) for detailed setup and usage instructions.
### Basic Usage
```python theme={null}
from lerobot.robots.so_follower import SOFollower, SOFollowerRobotConfig
# Create configuration for SO-100
config = SOFollowerRobotConfig(
robot_type="so100_follower", # Specify SO-100
id="so100_main",
port="/dev/ttyUSB0"
)
# Use the robot
with SOFollower(config) as robot:
obs = robot.get_observation()
robot.send_action({
"shoulder_pan.pos": 0.0,
"shoulder_lift.pos": -45.0,
"elbow_flex.pos": 90.0,
"wrist_flex.pos": 0.0,
"wrist_roll.pos": 0.0,
"gripper.pos": 50.0
})
```
## Configuration
The SO-100 uses the same `SOFollowerRobotConfig` class:
```python theme={null}
from lerobot.robots.so_follower import SOFollowerRobotConfig
from lerobot.cameras.opencv import OpenCVCameraConfig
config = SOFollowerRobotConfig(
robot_type="so100_follower",
id="so100_main",
port="/dev/ttyUSB0",
disable_torque_on_disconnect=True,
max_relative_target=10.0,
cameras={
"wrist": OpenCVCameraConfig(
index_or_path=0,
fps=30,
width=640,
height=480
)
},
use_degrees=True # For backward compatibility
)
```
### Motor Configuration
Identical to SO-101:
| Motor Name | ID | Model | Range |
| -------------- | -- | ------- | ------------- |
| shoulder\_pan | 1 | STS3215 | Full rotation |
| shoulder\_lift | 2 | STS3215 | Limited |
| elbow\_flex | 3 | STS3215 | Limited |
| wrist\_flex | 4 | STS3215 | Limited |
| wrist\_roll | 5 | STS3215 | Full rotation |
| gripper | 6 | STS3215 | 0-100% |
## Differences from SO-101
From a software perspective, the SO-100 and SO-101 are identical. Both:
* Use the same `SOFollower` class implementation
* Share motor configurations
* Support the same features
* Use identical calibration procedures
* Have the same API
The only difference in the code is the robot type identifier:
* SO-100: `robot_type="so100_follower"`
* SO-101: `robot_type="so101_follower"`
Both `so100_follower` and `so101_follower` are registered as subclasses of `SOFollowerRobotConfig` and use the same underlying implementation (see /home/daytona/workspace/source/src/lerobot/robots/so\_follower/config\_so\_follower.py:45).
## Hardware Setup
Follow the same hardware setup as SO-101:
1. Connect via USB to your computer
2. Identify the serial port
3. Set up port permissions (Linux):
```bash theme={null}
sudo usermod -a -G dialout $USER
```
4. Install LeRobot:
```bash theme={null}
pip install lerobot
```
## Calibration
Calibration procedure is identical to SO-101:
```python theme={null}
from lerobot.robots.so_follower import SOFollower, SOFollowerRobotConfig
config = SOFollowerRobotConfig(
robot_type="so100_follower",
id="so100_main",
port="/dev/ttyUSB0"
)
robot = SOFollower(config)
robot.connect(calibrate=True)
# Follow the calibration prompts:
# 1. Move to middle position
# 2. Move through full range of motion
# 3. Calibration saved automatically
```
Calibration files are stored separately for each robot ID, so you can have both SO-100 and SO-101 robots with different calibrations.
## Safety Features
All SO-101 safety features apply to SO-100:
### Relative Target Limiting
```python theme={null}
config = SOFollowerRobotConfig(
robot_type="so100_follower",
port="/dev/ttyUSB0",
max_relative_target=10.0 # Limit movement per step
)
```
### Torque Management
```python theme={null}
config = SOFollowerRobotConfig(
robot_type="so100_follower",
port="/dev/ttyUSB0",
disable_torque_on_disconnect=True # Safe shutdown
)
```
## API Reference
Since SO-100 uses the `SOFollower` class, see the [SO-101 documentation](/robots/so-101) for complete API details.
### Key Methods
```python theme={null}
# Connection
robot.connect(calibrate=True)
robot.disconnect()
# Observation
obs = robot.get_observation()
# Returns: dict with motor positions and camera images
# Action
action = {"shoulder_pan.pos": 0.0, ...}
sent_action = robot.send_action(action)
# Returns: actual action sent (may be clipped for safety)
# Calibration
robot.calibrate()
# Configuration
robot.configure() # Apply PID settings, operating modes
```
## Teleoperation Example
Use SO-100 in a leader-follower setup:
```python theme={null}
from lerobot.robots.so_follower import SOFollower, SOFollowerRobotConfig
leader = SOFollower(SOFollowerRobotConfig(
robot_type="so100_follower",
id="leader",
port="/dev/ttyUSB0"
))
follower = SOFollower(SOFollowerRobotConfig(
robot_type="so100_follower",
id="follower",
port="/dev/ttyUSB1",
max_relative_target=15.0
))
with leader, follower:
while True:
obs = leader.get_observation()
action = {k: v for k, v in obs.items() if k.endswith(".pos")}
follower.send_action(action)
```
## Implementation Details
The SO-100 and SO-101 implementations are aliased in the source code:
```python theme={null}
# From so_follower.py
SO100Follower = SOFollower
SO101Follower = SOFollower
# From config_so_follower.py
SO100FollowerConfig = SOFollowerRobotConfig
SO101FollowerConfig = SOFollowerRobotConfig
```
This means all features, bug fixes, and improvements apply to both robots simultaneously.
## Related Documentation
Full documentation for the SO follower series
See all supported robots
Motor bus API documentation
Collect training data