# SO-ARM101

* [ ] [Learn about SO-ARM](#introducing-so-arm)
* [ ] [Check what's in your box!](#before-you-get-started-know-your-kit)
* [ ] [Get started for unassembled kit!](#you-are-now-ready-to-get-started.-follow-this-doc-for-unassembled-kit-and-electronics-only-kit-owner)
* [ ] [Get started for assembled kit!](#if-you-own-an-assembled-kit-follow-this-doc)

#### Introducing SO-ARM

The **SO-ARM** is a low-cost, dual-arm teleoperation system built around a simple “leader–follower” concept:

* **Leader Arm:** Hand-held or gantry-mounted, this arm’s servos report each joint’s exact position in real time.
* **Follower Arm:** The servos mirror the leader’s joint angles instantly what you do with the leader, the follower reproduces exactly.

Beyond basic teleoperation, the SO-ARM platform is designed for ongoing “training” and refinement:

* Demonstration Recording & Playback,Imitation & Reinforcement Learning, Continuous Improvement Loop, etc.

The opportunities are endless!

## Before you get started, know your kit!

<figure><img src="https://3942935639-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FrqWqvRlSqWi1JGBrKs5O%2Fuploads%2FsiyEbOvBDbvdnL0RZWsM%2F9.png?alt=media&#x26;token=98a40e87-5498-4f1a-b282-322b2213e5f4" alt="" width="375"><figcaption><p>Only applies to full kit and 3d printed parts only!  </p></figcaption></figure>

Assembled kit will have a fully assembled leader and follower arm as shown in [this picture](https://partabot-1.gitbook.io/partabot/so-arm101/assembled-kit-pictures).

<figure><img src="https://3942935639-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FrqWqvRlSqWi1JGBrKs5O%2Fuploads%2Fs1naeCxrlm038NzGelxk%2F4.png?alt=media&#x26;token=a85ad4c8-a1e8-476d-90ab-7ea88e3946b4" alt="" width="375"><figcaption><p>For more information on the motor board visit <a href="so-arm101/motor-board">this page</a></p></figcaption></figure>

<figure><img src="https://3942935639-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FrqWqvRlSqWi1JGBrKs5O%2Fuploads%2Fbr7L406P53VmCAfvfbWI%2F7.png?alt=media&#x26;token=997129ab-3be9-475e-8583-8c2e0fb7177d" alt="" width="375"><figcaption><p>Relates to 12V kit.</p></figcaption></figure>

For more information on the servos follow [this link](https://www.feetechrc.com/525603.html) for 12V servos and [this link](https://www.feetechrc.com/74v-19-kgcm-plastic-case-metal-tooth-magnetic-code-double-axis-ttl-series-steering-gear.html) for 7.4V servos

Be mindful of power source:

<figure><img src="https://3942935639-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FrqWqvRlSqWi1JGBrKs5O%2Fuploads%2FhMVVxFLuoi2RFlfa8TMt%2F5.png?alt=media&#x26;token=30c977e8-e675-4c7c-b860-6544793a94e5" alt="" width="375"><figcaption><p>5V = Leader arm 12V = Follower arm</p></figcaption></figure>

<figure><img src="https://3942935639-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FrqWqvRlSqWi1JGBrKs5O%2Fuploads%2FsoOmP6j0zcI5qyTsLu72%2F8.png?alt=media&#x26;token=ea2bdfe9-5059-4338-8e01-c864a2fc57e5" alt="" width="375"><figcaption></figcaption></figure>

#### You are now ready to get started. [Follow this doc](https://huggingface.co/docs/lerobot/so101) for unassembled kit and electronics-only kit owners, or follow [this series](https://www.youtube.com/watch?v=-8uQOWK-IGo).

#### If you own an <mark style="color:blue;">assembled</mark> kit, [follow this doc](https://huggingface.co/docs/lerobot/so101)!