Lattice Arm

Lattice Arm is an open-source, low-cost, modular and detachable robotic manipulator designed for tool use. It is built on top of the SO-101 follower arm — reusing its electronics and motors — and adds a detachable upper section so end effectors can be swapped without tearing the arm down.

This Program is an entry point: learn the build and parts in-browser, then head to the source repo for the full CAD, print files, and teleoperation software.

At a glance

• 6× Feetech STS 3215 bus servos (2 in the Lattice upper section, 4 in the SO-101 base)
• Modular detachable joints at the shoulder and wrist (PartA/PartAcap, PartB/PartBcap)
• Swappable end effectors — parallel-jaw gripper and lead-screw gripper included
• Optional egocentric camera mounts
• ~$140 full arm (or ~$42 as an add-on if you already own an SO-101 base)
• Driven by a single Waveshare motor-control board over USB

Build & assembly

Print lattice.3mf (Lattice-only parts) or lattice-full-arm.3mf (full arm, two plates). Assemble base → tip:

SO-101 base arm → Shoulder → Shoulder Connector → End Effector Connector → Gripper

Full hardware guide, part list, and assembly steps: hardware/README.md.

Software

Teleoperation and data collection run through the lerobot lattice branch (not mainline lerobot). The control code in this Program is a learning scaffold — see the in-IDE comments for how to bridge it to real Feetech hardware.

Source: github.com/ahadjawaid/lattice · Authors: Ahad Jawaid & Juan Luna (Lumid Labs LLC) · License: Apache-2.0 Built on SO-ARM100 and LeRobot; inspired by XLeRobot.