Moss v1 vs SO-101 (SO-ARM101)
Cost, parts and difficulty side by side.
| Moss v1 | SO-101 (SO-ARM101) | |
|---|---|---|
| Cost | $288 to $360 | $230 to $330 |
| Difficulty | beginner | beginner |
| Parts | 9 | 8 |
| 3D printing | yes | yes |
| Kits available | 0 | 5 |
| Made by | Jess Moss | TheRobotStudio and Hugging Face |
| Full list | Moss v1 parts list | SO-101 (SO-ARM101) parts list |
Moss v1
Metal-bracket STS3215 leader and follower arms for LeRobot; still supported but deprecated in favor of SO-100/SO-101.
SO-101 (SO-ARM101)
Low-cost 3D printed 6-DOF arm pair (leader plus follower) for teleoperation and imitation learning with LeRobot.
The short answer
SO-101 costs less to start: about $230 against $288 in parts. SO-101 has the shorter parts list (8 lines against 9). Both are rated beginner.
Motors and servos
Moss v1
- 12 x Feetech STS3215 7.4V (C001, 1/345)
- 2 x 5V power supply
SO-101
- 7 x Feetech STS3215 7.4V, 1/345 gear (C001)
- 2 x Feetech STS3215 7.4V, 1/191 gear (C044)
- 3 x Feetech STS3215 7.4V, 1/147 gear (C046)
- 2 x 5V power supply, 5.5x2.1 mm barrel
Parts both builds use (1)
- USB-C cable 2-pack
Building both? These parts carry over, so buying for one covers part of the other.