SO-101 series kickoff: 15-minute assembly, URDF wrist camera and a full migration off LeRobot to ROS 2
kamathsblog · x · 2026-09-07
Robotics engineer Aditya Kamath kicks off a new blog series on the SO-101 arm, starting with hardware before migrating its entire software stack from LeRobot to ROS 2 for future Physical AI experiments.
- Assembly: Building the SO-101 took only 15 minutes — fewer printed parts, better tolerances, and dedicated cable channels make it noticeably more polished than the SO-100.
- One regression: the shoulder pan joint now bolts directly to the motor as a cantilever, trading some stability for easier assembly (the SO-100 used a spare servo horn as a bearing).
- Extras: a wrist camera added to the URDF, a second arm converted into the SO-Lamp robotic lamp, and a small bipedal robot purchase teased for future posts.
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