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Star Arm 102

Open-Source 6+1 DOF Robot Arm for LeRobot

Six arm joints plus a gripper. Start with teleoperation, try the released ACT block-placement task, then learn to collect demonstrations and train your own policy.

Getting Started Try the ACT Model

Star Arm 102 overview

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Choose your starting point

  • Getting Started

    Identify your LD, HD, or FL setup, secure and connect the hardware, check communication, and choose a control path.

  • Examples & Models

    Watch the ACT demonstration, check camera and environment requirements, and download the pretrained block-placement policy.

  • Learning Path

    Work through teleoperation, scene setup, data collection, training, and evaluation for your own task.

  • Control & Development

    Find web control, Python SDK, ROS 2, MoveIt, Gazebo, and reBot integration guides.

  • Hardware & Open Resources

    Find specifications, assembly guidance, BOM, CAD, printing resources, and source code. Check model compatibility and license scope.

  • Maintenance & Support

    Troubleshoot connections, calibration, cameras, and models, and gather the details needed for support.

Try your first AI task

The released ACT example uses a 102-FL with overhead and front cameras to place a block in the center of a workspace. No training is required, but you must install the matching environment, calibrate the arm, and reproduce the scene. This policy is task-specific; changing objects, camera placement, or lighting requires another evaluation.

Watch the demonstration · Open the setup and run checklist

Choose a path for your equipment

Your equipment Where to begin
LD or HD + FL Getting Started: check connections and small teleoperation movements first
FL only Check communication and calibration, then prepare the pretrained ACT example
LD or HD only Check leader feedback or use the web tool's virtual follower
102 leader + reBot Follow the reBot integration path and check adapters and versions
DIY parts Review assembly resources and BOM before first use

Continue learning and developing

For your own task, follow the Learning Path. For motion planning, simulation, or system integration, choose a tool in Control & Development. Dependencies, zero references, and calibration files can differ across control paths; read versions and compatibility first.

Drawings and printing resources are maintained in the CAD and 3D Model download center. Refer to the resource licenses for the scope of open code and design files.