Qubit — Dual-Arm Desktop Robot

Qubit is a fully functional dual-arm desktop robot designed for demos, livestreams, and content creation. It features two SO-100 arms driven by 12× STS3215 servos, expressive 16×16 LED eyes, ambient RGB lighting tubes, and a Raspberry Pi 5 brain. The entire system is controlled by a modular Python 3.10+ codebase that makes every component scriptable and remixable.

Source: github.com/0xaiwhisperer/qubit · by @0xaiwhisperer

Important: Never power servos from the Pi USB — each arm needs a dedicated 7.5 V / 5 A supply.

Key Capabilities

• Bimanual manipulation: Independent control of both arms for complex tasks.
• Expressive face: 16×16 iDotMatrix LED matrix with 14 built-in emotes (happy, blink, sad, angry, surprised, wink, sleep, loading, startup, eye_track_left/right, heart, glitch, off).
• Ambient lighting: Dual WS2812B LED tubes with full RGB and programmable effects.
• Teleoperation: Leader/follower arm pairing via LeRobot.
• Computer vision: Face tracking using Pi Camera Module v3.
• Web dashboard: Local control UI served at qubit.local:5000.

Script Library

Ships ready-to-run scripts for arm control, demo record/replay, servo calibration, LED face + tubes, camera face-tracking, diagnostics, and a local web dashboard. See the scripts/ folder for the full list.

All emotes are stored as JSON frame sequences that can be edited or replaced, letting builders craft new expressions in minutes. Every servo, LED, and camera function is exposed through clean Python APIs, so the robot becomes a plug-and-play platform for new behaviors rather than a fixed-purpose toy.

Printing

The 12 STL files here are one complete SO-100 robot arm (arm_body_1–4, base_3/4/5, rotation_pitch, wrist_roll, wrist_roll_pitch, moving_jaw, waveshare_mounting_plate). Qubit is a bimanual robot: print this entire set TWICE — once for the left arm and once for the right arm. Both arms are identical follower configurations (6× STS3215 servos each, 12 total), so no left/right mirror parts are needed; the two arms are built from the same files.

Recommended: PLA+ or PETG, 0.2mm layer height, ~40% gyroid infill. Supports are needed for the arm joint brackets. Budget roughly 8–12 hours of print time per arm.

Note on the body/head: the project's documentation also references Qubit-specific structural parts (head/LED-matrix shell, body frame, neck bracket, LED-tube mounts, shoulder adapters, weighted base plate, cable cover). Those parts are not yet published as STL files in the upstream source, so they are not included here. This Print All set covers the printable arm hardware that is currently released; the desk-stand body can be added once those files are available upstream.