Supported robots
These are the robot arms you can register, teleoperate, and collect data with on AY-Robots. Supported means the platform knows the robot type end to end: clients can add a unit with control and stream URLs, operators can get certified for it, and recorded sessions produce datasets in the correct format.
Last updated 2026-08-09
The list below reflects what the platform supports today. Specifications are taken from the manufacturers; where a value is missing, the maker does not publish a reliable number, which is common for DIY arms whose print quality and assembly vary between builds. We list what we can stand behind rather than inventing figures.
SO-100 / SO-ARM100
The SO-100 by TheRobotStudio, distributed through the LeRobot ecosystem by Hugging Face, is the most common arm on the platform. It is a low-cost, open-source 5 DoF arm with a gripper, designed for exactly the workflow AY-Robots is built around: teleoperated demonstration recording in a leader and follower setup, feeding imitation learning and VLA training.
| Specification | Value |
|---|---|
| Maker | TheRobotStudio / LeRobot (Hugging Face) |
| Category | Low-cost, open-source, VLA data collection |
| Degrees of freedom | 5 DoF + gripper (6 actuators) |
| Actuation | Feetech bus servos (LeRobot SO-100 stack) |
| Interfaces | LeRobot, Python |
The Feetech STS3215 servos in the SO-100 are 7.4 V units. Connecting a 12 V power supply destroys them. Other Feetech configurations do exist in 12 V variants, which is exactly how this mistake keeps happening: check the voltage printed on your servos before you plug in any supply, not the voltage a tutorial happens to mention.
Because the SO-100 is the reference arm of the platform, it has its own deep-dive section covering assembly-adjacent topics, data recording practice, and the LeRobot format details.
The pillar page: what the arm is, what it can do, and how it fits the platform.
Episode structure, how many demonstrations you need, and the mistakes that ruin datasets.
How recordings map onto LeRobot, and what changed between format versions.
Koch v1.1
The Koch v1.1 from the LeRobot project serves the same purpose as the SO-100: an affordable arm for teleoperated data collection. The practical difference is the servo ecosystem. Where the SO-100 uses Feetech bus servos, the Koch is built on Dynamixel servos and requires the Dynamixel SDK. If you already own Dynamixel hardware or tooling, the Koch fits into it; if you are starting from zero, the SO-100 is the more common entry point on this platform.
| Specification | Value |
|---|---|
| Maker | LeRobot (Hugging Face) |
| Category | Low-cost, open-source, VLA data collection |
| Degrees of freedom | 5 DoF + gripper (6 actuators) |
| Actuation | Dynamixel bus servos (Dynamixel SDK required) |
| Interfaces | LeRobot, Python |
Franka arms
The Franka family sits at the opposite end of the spectrum from the DIY arms: research-grade 7 DoF manipulators with torque-controlled joints, 855 mm reach, 3 kg payload, and 0.1 mm repeatability. They are significantly more expensive than the LeRobot-style arms, and in exchange you get precision and torque sensing that DIY servos cannot offer.
| Specification | Research 3 (FR3) | Production 3 (FP3) | Emika Panda |
|---|---|---|---|
| Degrees of freedom | 7 DoF | 7 DoF | 7 DoF |
| Reach | 855 mm | 855 mm | 855 mm |
| Payload | 3 kg | 3 kg | 3 kg |
| Repeatability | 0.1 mm | 0.1 mm | 0.1 mm |
| Actuation | Torque-controlled joints | Torque-controlled joints | Torque-controlled joints |
| Interfaces | Franka control stack, ROS/ROS2 | Franka control stack, ROS/ROS2 | libfranka, ROS/ROS2 |
Franka Research 3 (FR3)
The current research arm and a fixture in manipulation and VLA research. If you are collecting data intended to be comparable with published benchmarks, this is the arm much of that work runs on.
Franka Production 3 (FP3)
The production variant of the same platform. Specifications vary by configuration, so treat the table values as the baseline and confirm details for your specific setup.
Franka Emika Panda
The classic predecessor, controlled via libfranka. It appears in many older manipulation and imitation learning datasets, which makes it relevant if you are extending or reproducing that line of work.
Interbotix WidowX-250
The WidowX-250 from Trossen Robotics is an affordable research arm and a popular entry point for imitation learning and teleoperation, sitting between the DIY arms and the Franka class in both capability and price. It runs on the Interbotix ROS stack.
| Specification | Value |
|---|---|
| Maker | Trossen Robotics / Interbotix |
| Category | Low-cost research, VLA, teleoperation |
| Degrees of freedom | 5 DoF |
| Reach | 650 mm |
| Payload | 0.25 kg |
| Repeatability | 1 mm |
| Actuation | Dynamixel X-Series servos |
| Interfaces | ROS 1/2 (Interbotix stack), Python |
ALOHA ViperX-300 6DOF
A ViperX-300 variant with modifications inspired by the ALOHA 2 proposals, aimed at teleoperation and bimanual research setups. Like the WidowX it is built on Dynamixel X-Series servos and the Interbotix ROS stack.
| Specification | Value |
|---|---|
| Maker | Interbotix/Trossen (ALOHA-inspired) |
| Category | Teleoperation, bimanual research |
| Degrees of freedom | 6 DoF |
| Reach | 750 mm |
| Payload | 0.75 kg |
| Repeatability | 1 mm |
| Actuation | Dynamixel X-Series servos |
| Interfaces | ROS 1/2 (Interbotix stack), Python |
Requesting another robot type
If your arm is not listed, you can request support through the robot request form on the platform or via the contact page. Requests that include the control interface (what protocol commands the arm speaks) and how its cameras stream are much faster to evaluate than a bare model name. Supporting a new type means wiring it into registration, certification, teleoperation, and the dataset pipeline, so requests are prioritized by demand.
Frequently asked questions
Do I need ROS to use the SO-100 or Koch on the platform?▾
No. Both are operated through the LeRobot stack and Python; the platform and desktop client handle the connection. ROS only becomes relevant for the Interbotix and Franka arms, which are controlled through their own stacks.
Can one motor controller board be shared between two arms?▾
No. When you register a robot, its motor board gets a hardware id that is unique across the platform: one board belongs to exactly one arm. Registering a second robot with the same board is rejected as already assigned.
Do I register the leader arm of a leader-follower pair?▾
Register the follower, the arm that actually executes movements and gets recorded. The leader arm is your input device and stays on your desk; it does not need its own platform registration.
Why are reach and payload missing for the SO-100 and Koch?▾
Because honest numbers do not exist. These are 3D-printed open-source designs whose stiffness and effective payload depend on print material and assembly. We omit values rather than publish figures your build might not reach.
Create an AY-Robots account, choose the client or operator role, set up your first environment, pair a robot with a pairing code, and run your first session.
Drive a robot arm from the AY-Robots browser cockpit: keyboard impulses, camera grid, quality slider, leader and follower mirroring, and the emergency stop.