Runs today
- Axes
- 5 + gripper
- Reach
- –
- Payload
- –
- Price
- ≈ €128 in parts
Robot arms, by maker.
20 arms from 14 brands. 14 of them as open 3D models you can turn, every number with its source.
The SO-100 and the SO-101 run with AY-Robots today. More are coming.
TheRobotStudio
SO-101
Runs today
Drag to turn
Side by side, at the same scale
All 14 arms with an open 3D model, in the pose shown. Pick one to turn it.
Every arm, by maker
Open-source arms first, then the other makers. Pick an arm for its data sheet.
20 arms
TheRobotStudio
Open source · 2Runs today
- Axes
- 5 + gripper
- Reach
- –
- Payload
- –
- Price
- ≈ €124 in parts
LeRobot Community
Open source · 2
Data compatible
Alexander Koch, Jess Moss
- Axes
- 5 + gripper
- Reach
- –
- Payload
- –
- Price
- ≈ €368 in parts
Data compatible
SIGRobotics-UIUC
- Axes
- 5 + gripper
- Reach
- –
- Payload
- –
- Price
- ≈ €526 to €546
Enactic
Open source · 1
On request
- Axes
- 2 × 7
- Reach
- –
- Payload
- 4.1 kg
- Price
- from US$Â 6,500
ABB
1
On request
- Axes
- 2 × 7
- Reach
- 559 mm
- Payload
- 500 g
- Price
- –
AgileX Robotics
1
On request
- Axes
- 6 + gripper
- Reach
- 626 mm
- Payload
- 1.5 kg
- Price
- US$Â 1,999
Dobot
1
On request
- Axes
- 4
- Reach
- 320 mm
- Payload
- 500 g
- Price
- –
FANUC
1
On request
- Axes
- 6
- Reach
- 717 mm
- Payload
- 7 kg
- Price
- –
Franka Robotics
2
On request
- Axes
- 7
- Reach
- 855 mm
- Payload
- 3 kg
- Price
- On request
On request
- Axes
- 7
- Reach
- 855 mm
- Payload
- 3 kg
- Price
- No longer listed
Kinova
1
On request
- Axes
- 7
- Reach
- 902 mm
- Payload
- 2 kg
- Price
- –
KUKA
1
On request
- Axes
- 7
- Reach
- 820 mm
- Payload
- 14 kg
- Price
- –
Trossen Robotics
2
On request
- Axes
- 6 + gripper
- Reach
- 650 mm
- Payload
- 250 g
- Price
- Discontinued
On request
- Axes
- 6 + gripper
- Reach
- 750 mm
- Payload
- 750 g
- Price
- Discontinued
UFACTORY
2
On request
- Axes
- 7
- Reach
- 700 mm
- Payload
- 3.5 kg
- Price
- Series from US$Â 5,299
On request
- Axes
- 6
- Reach
- 440 mm
- Payload
- 600 g
- Price
- from US$Â 2,999
Universal Robots
2
On request
- Axes
- 6
- Reach
- 850 mm
- Payload
- 5 kg
- Price
- –
On request
- Axes
- 6
- Reach
- 900 mm
- Payload
- 16 kg
- Price
- –
Yaskawa
1
On request
- Axes
- 6
- Reach
- 2,010 mm
- Payload
- 12 kg
- Price
- –
Coming next
Closest are the arms whose LeRobot datasets already train on AY-Robots today. What is missing is the live connection in the client. There is no date yet.
Your arm is not here?
Tell us which one you use, and we will look at the integration.
- Data compatible
Alexander Koch, Jess Moss
- Already there: LeRobot datasets train
- Missing: live connection in the client
- Data compatible
SIGRobotics-UIUC
- Already there: LeRobot datasets train
- Missing: live connection in the client
Compared head to head
Three decisions, written out in full.
- SO-100 vs SO-101SO-100 vs SO-101: what the revision actually changesSO-100 or SO-101: the same Feetech STS3215 servos at 7.4 V, the same calibration and LeRobot workflow, almost the same parts cost. What the revised wrist changes.
- SO-100 vs Koch v1.1SO-100 vs Koch v1.1: two servo buses, one data pipelineSO-100 or Koch v1.1: Feetech STS3215 at 7.4 V against Dynamixel XL330 and XL430 on 5 V and 12 V rails, at almost three times the parts cost, same trainers.
- SO-100 vs LeKiwiSO-100 vs LeKiwi: the same arm, plus a base you have to teachSO-100 or LeKiwi: the same Feetech arm family on a three-wheel base, built as a 5 V or a 12 V version. What the extra action dimensions do to recording, training and evaluation.
Sources and licenses
Every number comes from the maker, a parts list or the repository, as of October 12, 2026. Where a maker gives no value, you see –. Prices in US$ are the makers' own and not converted.
The 3D models come from open repositories. AY-Robots simplified and posed them and recolored some. Makers' names only identify the arms.
All license texts3D models
- SO-1003D: TheRobotStudio, Apache-2.0, edited
- SO-1013D: TheRobotStudio, Apache-2.0, edited
- LeKiwi3D: SIGRobotics-UIUC, Apache-2.0, edited
- OpenArm 2.03D: Enactic, Inc., Apache-2.0, edited
- Franka Research 33D: MuJoCo Menagerie (Google DeepMind), Apache-2.0, edited
- Franka Emika Panda3D: MuJoCo Menagerie (Google DeepMind), Apache-2.0, edited
- WidowX 250 S3D: Trossen Robotics, BSD-3-Clause, edited
- ViperX 300 S3D: Trossen Robotics, BSD-3-Clause, edited
- PiPER3D: RosenYin, MIT, edited
- xArm 73D: UFACTORY Inc., BSD-3-Clause, edited
- Lite 63D: UFACTORY Inc., BSD-3-Clause, edited
- Gen33D: Kinova inc., BSD-3-Clause, edited
- LBR iiwa 14 R8203D: Robot Locomotion Group @ CSAIL, BSD-3-Clause, edited
- UR5e3D: ROS Industrial Consortium, BSD-3-Clause, edited
Photos and renders
- SO-100Photo: TheRobotStudio, Apache-2.0 (edited) · License
- SO-101Photo: TheRobotStudio, Apache-2.0 · License
- Koch v1.1Render: Jess Moss, Apache-2.0 (edited) · License
- Franka Emika PandaPhoto: Ims, CC BY-SA 4.0 (edited) · License
- UR16ePhoto: Auledas, CC BY-SA 4.0 (edited) · License
- LR Mate 200iDPhoto: BorbaZal, CC BY-SA 4.0 (edited) · License
- YuMi IRB 14000Photo: Stilfehler, CC BY-SA 4.0 (edited) · License
- Motoman GP25-12Photo: WikiNDND, CC0 (edited) · License
- MagicianPhoto: Giacomo Alessandroni, CC BY-SA 4.0 (edited) · License
The arm matters less than the data you record with it.
A real SO-100 is on /live. When it is online, you drive it from the browser, no signup needed.