# Assembler 0 – A 3-D-printable test-bed for partial self-replication Created by [jackvial](https://github.com/jackvial) • Released under **MIT License** Assembler 0 is an open, low-cost robot whose long-term goal is to **re-print its own plastic parts** while still relying on externally supplied motors, boards, and power. The first milestone is deliberately modest: demonstrate *partial material closure*—i.e. show that the machine can manufacture some of its own structure—while keeping the electronics and actuation paths open for later closure. ## What the robot is - A **modular three-arm cell** built entirely from printable SO101 limbs: – **Gripper arm** for general pick-and-place – **Screwdriver arm** (6-DOF) for fastening operations – **3-D-printer arm** (in development) that will eventually extrude the very joints and links it is made of - **Leader / follower tele-operation** lets you **bimanually** coordinate two arms in real time; every motion is logged as an imitation-learning episode. - **MuJoCo simulation stack** (Linux + NVIDIA GPU) mirrors the hardware and runs in the browser at `localhost:1337`, so you can prototype policies before printing. ## What makes it distinctive 1. **Self-replication as a design driver, not a marketing after-thought.** The kinematics, fastener layout, and even the cable routes are chosen so that the *printed* portions can be unscrewed and re-printed by the same machine. 2. **Complete data pipeline in one repo.** Calibration → tele-operation → dataset recording → policy training (via LeRobot) → hardware deployment are all single-command scripts. 3. **Curated imitation dataset already shipped.** “Screwdriver 391” bundles 391 tele-operated screw-driving episodes—enough to bootstrap a baseline policy without collecting your own data. ## Quick start for builders ```bash git clone https://github.com/jackvial/assembler0\ cd assembler0/robot\\<follow calibration.md>\\<run teleoperate.py> # arms on /dev/ttyACM0 & /dev/ttyACM1, camera /dev/video4\\``` Every STL, BOM, and wiring diagram is in `/hardware`; the MuJoCo XML is kept in lock-step so that sim weights transfer to the real arms with no re-tuning. If you are looking for a **hackable, documented, and simulation-backed platform** to experiment with *machines that make machines*, Assembler 0 is the place to start.
# Bill of Materials Assembler 0 builds on the SO-ARM100/SO101 leader-follower bimanual platform from The Robot Studio, plus assembler0-specific additions (vision + magnetic gripper). Cost figures are USD as of 2026-05; servo links are mostly Alibaba where Amazon is unavailable. ## SO-ARM100 Bimanual Base ($229.88) | Part | Qty | Unit Cost | Total | Source | |------|-----|-----------|-------|--------| | Feetech STS3215 Servo 7.4V, 1/345 gear (C001) | 7 | $13.89 | $97.23 | [Alibaba](https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html) | | Feetech STS3215 Servo 7.4V, 1/191 gear (C044) | 2 | $13.89 | $27.78 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM101-Servo-7_1601430747897.html) | | Feetech STS3215 Servo 7.4V, 1/147 gear (C046) | 3 | $13.89 | $41.67 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM101-Servo-7_1601430760797.html) | | Waveshare Motor Control Board | 2 | $10.60 | $21.20 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | | USB-C Cable (2-pack) | 1 | $7.00 | $7.00 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/) | | 5V/12V Power Supply (5.5×2.1mm) | 2 | $10.00 | $20.00 | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/) | | Table Clamp (4pc) | 1 | $9.00 | $9.00 | [Amazon](https://www.amazon.com/TAODAN-Trigger-Ratchet-Woodworking-Processes/dp/B0DJNXF8WH) | | Precision Phillips Screwdriver Set | 1 | $6.00 | $6.00 | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH) | **SO-ARM100 subtotal: $229.88** ## Assembler 0 Additions | Part | Qty | Unit Cost | Total | Source | |------|-----|-----------|-------|--------| | SVPRO 5MP 30FPS USB Camera (wrist-mount vision) | 1 | $53.99 | $53.99 | Amazon | | Neodymium magnets, 6mm × 2mm (50-pack; uses 5/arm) | 1 | $5.99 | $5.99 | Amazon | **Assembler 0 additions subtotal: $59.98** ## 3D-Printed Parts All structural parts are user-printed from STL files in `packages/assembler0-hardware/stl/` (PLA/PETG, ~1kg filament). See attached STLs for the full set covering both SO101 leader and follower arms plus screwdriver and magnetic-gripper end-effectors. ## Total Estimated Cost **$290 USD** for the bimanual screwdriver/gripper configuration (excluding filament and shipping). Single-arm follower-only build is **$181** ($121.94 SO-ARM100 single-arm + $59.98 Assembler 0 additions). ## References - SO-ARM100 assembly guide: https://github.com/TheRobotStudio/SO-ARM100 - Assembler 0 hardware package: https://github.com/jackvial/assembler0/tree/main/packages/assembler0-hardware - LeRobot framework: https://github.com/huggingface/lerobot