This lab builds the LeRobot SO-101 Robot Arm, an open-source 6-degree-of-freedom robotic manipulator designed for teleoperation, demonstration recording, and imitation learning policy execution. The platform is implemented either as a standalone 6-axis follower arm or as a complete two-arm teleoperation master-slave setup (one 6-axis follower arm and one 6-axis leader arm). The host platform is an external workstation running the LeRobot Python software stack, communicating over USB-C to serial bus servo adapter boards. The electrical design runs on two main power domains: a 5 V DC logic and motor power bus (supplied via an external AC/DC wall adapter with a 5.5 × 2.1 mm barrel connector providing 5 V to daisy-chained Feetech STS3215 serial bus servos, or optionally 12 V DC at ≥ 5 A if 12 V high-torque servos are fitted), and a 5 V USB VBUS logic rail supplied by the host computer over USB-C to power the USB-to-UART bridge circuitry on the motor adapter boards.

Bill of Materials

Actuators and Electromechanical

Feetech STS3215 Serial Bus Servo, 7.4 V Nominal, 1/345 Reduction Gear (Part Number: STS3215 C001)

• Quantity needed: 6 for single follower arm; 7 for two-arm teleoperation setup (6 units for the follower arm joints, 1 unit for the leader arm base/jaw).
• Footprint/package: Feetech standard STS3215 servo enclosure (approximately 45.2 mm × 24.7 mm × 35 mm) with dual-ended mounting tabs and proprietary Feetech output spline.
• Electrical constraints: Nominal voltage 7.4 V DC, operating voltage range 5.0 V to 7.4 V DC. Stall torque is 16.5 kg·cm at 6.0 V (operable at slightly reduced torque on 5.0 V bus). Gear reduction ratio 1/345. Communicates via half-duplex asynchronous TTL serial bus over 3-pin daisy-chain wiring at up to 1 Mbps. Integrated 12-bit magnetic encoder for position feedback.
• Substitution latitude: Low. The 3D-printed chassis parts (Base, Motor Holders, Upper Arm, Under Arm, Wrist) are form-fitted to the exact mechanical dimensions, hole pitch, and horn geometry of the Feetech STS3215. The communication protocol and register map are hardcoded in the LeRobot driver stack (feetech-servo-sdk). A substitution must match both physical dimensions and the Feetech STS serial protocol.
• Operated control: In the follower arm, these act as closed-loop actuators. In the leader arm, one unit is operated by the student as a backdriven manual joint.
• Sourcing plan: distributor lookup: Feetech STS3215 C001

Feetech STS3215 Serial Bus Servo, 7.4 V Nominal, 1/191 Reduction Gear (Part Number: STS3215 C044)

• Quantity needed: 2 for two-arm teleoperation setup (used for lower-resistance leader arm joints). Not used in standalone follower build.
• Footprint/package: Feetech STS3215 enclosure (45.2 mm × 24.7 mm × 35 mm).
• Electrical constraints: Operating voltage 5.0 V to 7.4 V DC. Gear reduction ratio 1/191. TTL serial bus communication, 12-bit magnetic encoder. The lower gear ratio reduces backdrive friction so a human operator can move the leader arm smoothly without motor resistance.
• Substitution latitude: Must be the specific 1/191 gear ratio variant of the Feetech STS3215. Standard 1/345 servos create excessive backdrive resistance for teleoperation input.
• Operated control: Yes. Directly backdriven and manipulated by the student during teleoperation sessions.
• Sourcing plan: distributor lookup: Feetech STS3215 C044

Feetech STS3215 Serial Bus Servo, 7.4 V Nominal, 1/147 Reduction Gear (Part Number: STS3215 C046)

• Quantity needed: 3 for two-arm teleoperation setup (used for wrist and gripper joints on the leader arm). Not used in standalone follower build.
• Footprint/package: Feetech STS3215 enclosure (45.2 mm × 24.7 mm × 35 mm).
• Electrical constraints: Operating voltage 5.0 V to 7.4 V DC. Gear reduction ratio 1/147 for ultra-low backdrive friction and high manual compliance. TTL serial bus communication, 12-bit magnetic encoder.
• Substitution latitude: Must be the specific 1/147 gear ratio variant of the Feetech STS3215.
• Operated control: Yes. Directly backdriven and manipulated by the student's hand/fingers (including the gripper trigger) during teleoperation.
• Sourcing plan: distributor lookup: Feetech STS3215 C046

Feetech STS3215 Serial Bus Servo, 12 V High-Torque Version (Optional Alternative for Follower Arm)

• Quantity needed: 6 (replaces the 6 C001 servos on the follower arm if high-payload operation is desired).
• Footprint/package: Feetech STS3215 enclosure.
• Electrical constraints: Nominal voltage 12 V DC. Stall torque 30 kg·cm. Requires a 12 V DC power supply rated at ≥ 5 A.
• Substitution latitude: Optional upgrade, but if selected, all 6 follower motors must share the 12 V rating, and 5 V supplies must not be connected to the servo bus.
• Operated control: No.
• Sourcing plan: distributor lookup: Feetech STS3215 12V 30KG

Control Electronics and Interface Boards

Waveshare Bus Servo Adapter Board (Motor Control Board)

• Quantity needed: 1 for single follower arm; 2 for two-arm teleoperation setup.
• Footprint/package: Waveshare dedicated bus servo adapter PCB (approx. 42 mm × 30 mm), mounting to the 3D-printed WaveShare Mounting Plate.
• Electrical constraints: USB Type-C connector receiving 5 V USB VBUS from the host PC. DC power input via 5.5 × 2.1 mm DC barrel jack (supports 5 V to 12 V DC input). 3-pin 2.54 mm pitch or JST-style servo bus connectors delivering motor power and half-duplex UART communication. Onboard USB-to-UART serial transceiver operating at up to 1 Mbps baud.
• Substitution latitude: Low to moderate. The board integrates the half-duplex automatic directional control circuit required for Feetech 3-wire bus servos. Any substitute must provide an identical USB-to-TTL half-duplex converter circuit and fit the chassis mount.
• Operated control: No.
• Sourcing plan: distributor lookup: Waveshare Bus Servo Adapter Board

Power Supplies and Cabling

AC-to-DC Regulated Power Supply, 5 V DC, 5.5 × 2.1 mm Barrel Plug

• Quantity needed: 1 for single follower arm; 2 for two-arm teleoperation setup.
• Footprint/package: External AC wall adapter (plug-in transformer brick) with 1.2 m to 1.5 m DC cable terminated in a 5.5 mm OD × 2.1 mm ID center-positive barrel connector.
• Electrical constraints: Input 100-240 V AC, 50/60 Hz. Output 5.0 V DC regulated. Current capability must be ≥ 2.0 A per arm (3 A to 4 A recommended for multi-servo dynamic motions). Note: If 12 V STS3215 motors are fitted, this must be replaced by a 12 V DC supply rated at ≥ 5.0 A.
• Substitution latitude: Any regulated DC power supply with 5.0 V output, center-positive 5.5 × 2.1 mm plug, and adequate current rating works.
• Operated control: No.
• Sourcing plan: retail shopping search: 5V 4A power supply 5.5mm 2.1mm barrel jack

USB Type-C to Type-A / Type-C Cable

• Quantity needed: 1 cable for single follower arm; 2 cables (or one 2-piece pack) for two-arm teleoperation setup.
• Footprint/package: Standard USB cable with male USB Type-C connector at the robot end and appropriate male connector (Type-A or Type-C) for the host workstation. Minimum length 1.0 m recommended.
• Electrical constraints: Must support USB 2.0 data lines (D+ / D-) and 5 V VBUS power delivery. Charge-only cables missing data pairs will not work.
• Substitution latitude: Any functional USB data sync cable.
• Operated control: No.
• Sourcing plan: retail shopping search: USB-C data cable 1m

Mechanical Tools and Workstation Mounting

Trigger Ratchet Woodworking Clamps (Table Clamps)

• Quantity needed: 2 clamps for single arm; 4 clamps (or one 4-piece pack) for two-arm teleoperation setup.
• Footprint/package: 6-inch quick-release trigger ratchet bar clamp with non-marring rubber jaw pads.
• Electrical constraints: None.
• Substitution latitude: Any manual C-clamp, F-clamp, or desk mount capable of securely clamping the printed 3D arm base flange to a desktop surface.
• Operated control: Yes. Manually ratcheted and released by the operator during arm mounting.
• Sourcing plan: retail shopping search: 6 inch trigger ratchet bar clamp

Precision Screwdriver Set

• Quantity needed: 1 set.
• Footprint/package: Handheld precision driver handle with Phillips size #0 (PH0) and size #1 (PH1) bits.
• Electrical constraints: None.
• Substitution latitude: Any standard precision screwdriver set containing PH0 and PH1 bits.
• Operated control: Yes. Used during mechanical assembly.
• Sourcing plan: retail shopping search: precision screwdriver set Phillips PH0 PH1

M3 Machine Screws (Fasteners)

• Quantity needed: 2 screws (required specifically when assembling the hybrid compliant gripper).
• Footprint/package: M3 metric machine screw, socket head or pan head, length 10 mm to 16 mm.
• Electrical constraints: None.
• Substitution latitude: Any standard M3 machine screw.
• Operated control: No.
• Sourcing plan: retail shopping search: M3 socket head cap screws assortment

Raw Fabrication Materials

Rigid 3D Printing Filament: PLA+

• Quantity needed: Approximately 0.6 kg to 1.0 kg per arm (1 kg to 2 kg for a full two-arm setup).
• Footprint/package: 1.75 mm filament spool.
• Electrical constraints: None. Mechanical tensile strength of PLA+ required for structural rigidity and joint alignment.
• Substitution latitude: Standard PLA, PETG, or ABS can be used, though PLA+ is specified to match the calibrated tolerance gauges.
• Operated control: No.
• Sourcing plan: retail shopping search: PLA+ 1.75mm filament spool

Flexible 3D Printing Filament: TPU 95A

• Quantity needed: Approximately 50 g (used for compliant gripper fingers).
• Footprint/package: 1.75 mm flexible filament spool, Shore hardness 95A.
• Electrical constraints: None.
• Substitution latitude: Any 90A to 95A Shore hardness TPU filament.
• Operated control: No.
• Sourcing plan: retail shopping search: TPU 95A 1.75mm flexible filament

High-Friction Gripper Tape (Optional)

• Quantity needed: 1 strip (approx. 50 mm).
• Footprint/package: 3M high-friction polyurethane or rubberized grip tape.
• Electrical constraints: None.
• Substitution latitude: Any adhesive non-slip friction tape.
• Operated control: No.
• Sourcing plan: retail shopping search: 3M high friction grip tape

Optional Sensors and Add-on Vision Hardware

Intel RealSense D405 Depth Camera

• Quantity needed: Up to 1 per arm (optional wrist camera).
• Footprint/package: Intel RealSense D405 sub-millimeter RGBD camera enclosure.
• Electrical constraints: 5 V USB 3.1 Type-C.
• Substitution latitude: Low if running RealSense-specific perception models.
• Operated control: No.
• Sourcing plan: distributor lookup: Intel RealSense D405

Intel RealSense D435 / D435i Depth Camera

• Quantity needed: 1 (optional overhead or wrist vision sensor).
• Footprint/package: Intel RealSense D435 chassis.
• Electrical constraints: 5 V USB 3.0 Type-C.
• Substitution latitude: Low if using native RealSense SDK streams.
• Operated control: No.
• Sourcing plan: distributor lookup: Intel RealSense D435

32 × 32 mm UVC Camera Module

• Quantity needed: 1 to 3 units (for wrist and overhead mount options).
• Footprint/package: Bare 32 mm × 32 mm PCB camera board with USB interface and fixed-focus wide-angle lens.
• Electrical constraints: 5 V DC via USB 2.0 4-pin JST / USB cable.
• Substitution latitude: Any standard 32 × 32 mm UVC video module fitting the bracket screw holes.
• Operated control: No.
• Sourcing plan: retail shopping search: 32x32mm UVC camera module

AnySkin / WOWSKIN Tactile Sensor Module

• Quantity needed: 1 (optional gripper tactile sensing module).
• Footprint/package: Custom magnetic tactile sensor skin module manufactured by WOWROBO.
• Electrical constraints: 5 V logic and digital serial interface.
• Substitution latitude: Proprietary to the AnySkin/WOWROBO tactile sensing pipeline.
• Operated control: No.
• Sourcing plan: retail shopping search: WOWROBO AnySkin tactile sensor module

Software and network dependencies

The LeRobot SO-101 relies on host-side Python software and motor communication drivers running on Linux, macOS, or Windows workstations, communicating with the serial bus converters over USB virtual serial ports.

Software Components

Python Runtime Environment

• Platform: CPython interpreter.
• Version: Version constraint >=3.12 (pinned in pyproject.toml line: requires-python = ">=3.12").
• Where version came from: pinned in pyproject.toml.
• Check plan: support-status lookup: Python 3.12

LeRobot Robotics Control and Machine Learning Framework

• Name: lerobot
• Repository: https://github.com/huggingface/lerobot
• Version: 0.6.2 (stated in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: lerobot / PyPI / 0.6.2

PyTorch Core Tensor Computation and Machine Learning Framework

• Name: torch
• Version: >=2.7,<2.12.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: torch / PyPI / 2.7.0

Torchvision Computer Vision Library

• Name: torchvision
• Version: >=0.22.0,<0.27.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: torchvision / PyPI / 0.22.0

NumPy Scientific Computing Library

• Name: numpy
• Version: >=2.0.0,<2.3.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: numpy / PyPI / 2.0.0

OpenCV Headless Computer Vision Library

• Name: opencv-python-headless
• Version: >=4.9.0,<4.14.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: opencv-python-headless / PyPI / 4.9.0

Pillow Image Processing Library

• Name: Pillow
• Version: >=10.0.0,<13.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: Pillow / PyPI / 10.0.0

Einops Array Operations Library

• Name: einops
• Version: >=0.8.0,<0.9.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: einops / PyPI / 0.8.0

Draccus Configuration Management Library

• Name: draccus
• Version: >=0.11.6,<0.12.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: draccus / PyPI / 0.11.6

Hugging Face Hub Client Library

• Name: huggingface-hub
• Version: >=1.6.0,<2.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: huggingface-hub / PyPI / 1.6.0

Requests HTTP Networking Library

• Name: requests
• Version: >=2.32.0,<3.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: requests / PyPI / 2.32.0

Gymnasium Reinforcement Learning Interface

• Name: gymnasium
• Version: >=1.1.1,<2.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: gymnasium / PyPI / 1.1.1

Safetensors Safe Serialization Library

• Name: safetensors
• Version: >=0.4.3,<1.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: safetensors / PyPI / 0.4.3

Packaging Python Package Version Handling Library

• Name: packaging
• Version: >=24.2,<26.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: packaging / PyPI / 24.2

Termcolor Terminal Output Formatting Library

• Name: termcolor
• Version: >=2.4.0,<4.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: termcolor / PyPI / 2.4.0

TQDM Progress Meter Library

• Name: tqdm
• Version: >=4.66.0,<5.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: tqdm / PyPI / 4.66.0

CMake Build Automation Tool

• Name: cmake
• Version: >=3.29.0.1,<4.2.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: cmake / PyPI / 3.29.0.1

Setuptools Build System Utilities

• Name: setuptools
• Version: >=71.0.0,<82.0.0 (pinned in pyproject.toml).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: setuptools / PyPI / 71.0.0

Feetech Servo SDK (Hardware Driver Extra)

• Name: feetech-servo-sdk
• Version: >=1.0.0,<2.0.0 (pinned in pyproject.toml under [project.optional-dependencies] feetech).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: feetech-servo-sdk / PyPI / 1.0.0

PySerial Serial Port Communications Library

• Name: pyserial
• Version: >=3.5,<4.0 (pinned in pyproject.toml under [project.optional-dependencies] feetech and hardware).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: pyserial / PyPI / 3.5

Deepdiff Deep Comparison Library

• Name: deepdiff
• Version: >=7.0.1,<9.0.0 (pinned in pyproject.toml under [project.optional-dependencies] feetech and hardware).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: deepdiff / PyPI / 7.0.1

Pynput Input Device Control Library

• Name: pynput
• Version: >=1.7.8,<1.9.0 (pinned in pyproject.toml under [project.optional-dependencies] hardware).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: pynput / PyPI / 1.7.8

PyRealSense2 Intel RealSense SDK Python Bindings (Optional Camera Extra)

• Name: pyrealsense2
• Version: >=2.55.1.6486,<2.57.0 (Linux/Windows) or pyrealsense2-macosx >=2.54,<2.57.0 (macOS) (pinned in pyproject.toml under [project.optional-dependencies] intelrealsense).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: pyrealsense2 / PyPI / 2.55.1.6486

Pygame Game Controller and GUI Library (Optional Teleoperation Extra)

• Name: pygame
• Version: >=2.5.1,<2.7.0 (pinned in pyproject.toml under [project.optional-dependencies] gamepad).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: pygame / PyPI / 2.5.1

HIDAPI Hardware Interface Device Library (Optional Teleoperation Extra)

• Name: hidapi
• Version: >=0.14.0,<0.15.0 (pinned in pyproject.toml under [project.optional-dependencies] gamepad).
• Where version came from: pinned in pyproject.toml.
• Check plan: vulnerability lookup: hidapi / PyPI / 0.14.0

Feetech PC Debugging Software (Windows Vendor Tool)

• Name: Feetech Software
• Source: https://www.feetechrc.com/software.html
• Version: not stated.
• Where version came from: not stated.
• Check plan: not checkable: vendor-hosted binary executable without version tag or public vulnerability database.

FT_SCServo_Debug_Qt Motor Debugging Software (Linux Vendor/Community Tool)

• Name: FT_SCServo_Debug_Qt
• Repository: https://github.com/Kotakku/FT_SCServo_Debug_Qt
• Version: not stated (unpinned repository master).
• Where version came from: not stated.
• Check plan: not checkable: unpinned GitHub repository.

Pinning Status and Manifest Location

• Manifest location: pyproject.toml
• Dependency Pinning Status: Dependencies in pyproject.toml are bounded by semantic version ranges (e.g. >=X,<Y), but no exact-commit lockfile (such as poetry.lock or pip-compile requirements.lock) is present in the repository. The vendor debugging tools (Feetech PC Software and Kotakku/FT_SCServo_Debug_Qt) are completely unpinned and referenced without version strings or commit hashes.

Network Exposure and Operational Boundaries

• Network Connections: The physical robot hardware connects locally to the workstation via USB serial COM ports (CDC ACM / FTDI / CH340 virtual COM port). The hardware itself carries no onboard Wi-Fi, Ethernet, or Bluetooth transceivers.
• Workstation Network Usage: The Python software requires outbound HTTPS access (port 443) via the huggingface-hub and requests libraries to authenticate, stream dataset trajectories from Hugging Face Hub (lerobot/*), download pre-trained policy checkpoints (ACT, Diffusion, SmolVLA, Pi0), and upload teleoperation demonstrations.
• Open Ports / Listening Services: In standard CLI operation (lerobot-teleoperate, lerobot-record, lerobot-replay, lerobot-train, lerobot-eval), no local network listening ports are opened. When running the optional browser interface (LeLab, https://github.com/huggingface/leLab), a local HTTP server is spawned on a localhost web port.
• Authentication and Credentials: Hugging Face API access tokens (HF_TOKEN) are read from the host environment or the local Hugging Face cache for gated dataset and model repository uploads. No default root credentials or hardcoded device passwords exist on the robot.

Temporal Downloads and External URLs

External web resources referenced across the documentation that must remain reachable:

• Hugging Face LeRobot Documentation and Assembly Tutorial: https://huggingface.co/docs/lerobot/so101
• LeRobot GitHub Repository: https://github.com/huggingface/lerobot
• LeLab Web Interface Repository: https://github.com/huggingface/leLab
• Feetech RC Official Software Download Portal: https://feetechrc.com/software.html
• Kotakku FT_SCServo_Debug_Qt GitHub Repository: https://github.com/Kotakku/FT_SCServo_Debug_Qt
• XLeRobot Extended Documentation: https://xlerobot.readthedocs.io/en/latest/index.html
• The Robot Studio: https://www.therobotstudio.com
• WOWROBO AnySkin Product Listing: https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin
• Akizuki Denshi Parts Catalog: https://akizukidenshi.com/catalog/g/g116312/

Fabrication Specifications

The SO-101 arm chassis consists entirely of 3D-printed FDM mechanical components. The lab provides single-plate combined STL files as well as individual part models.

• Manufacturing Process: FDM (Fused Deposition Modeling) 3D printing.
• Structural Material: PLA+ (standard rigid structural components); TPU 95A (flexible gripper elements).
• Slicing and Tooling Parameters:
  • Nozzle diameter 0.4 mm at 0.2 mm layer height, OR 0.6 mm nozzle diameter at 0.4 mm layer height.
  • Infill density: 15%.
  • Supports: Enabled everywhere, ignoring overhang slopes greater than 45° to the horizontal plane.
  • Slicer Exclusion: Supports must be blocked inside horizontal-axis screw holes.
• Full Single-Plate Bed Dimension Requirements:
  • Small bed (Creality Ender 3 class): Minimum 220 mm × 220 mm bed area (Ender_Follower_SO101.stl, Ender_Leader_SO101.stl).
  • Medium bed (Prusa MINI+, Prusa MK3/MK4, UP Plus 2 class): Minimum 205 mm × 250 mm bed area (Prusa_Follower_SO101.stl, Prusa_Leader_SO101.stl).
• Structural File Inventory (14 unique printed elements):
  • Common Elements (9 parts): Base_motor_holder_SO101.stl, Base_SO101.stl, Motor_holder_SO101_Base.stl, Motor_holder_SO101_Wrist.stl, Under_arm_SO101.stl, Upper_arm_SO101.stl, Rotation_Pitch_SO101.stl, Wrist_Roll_Pitch_SO101.stl, WaveShare_Mounting_Plate_SO101.stl.
  • Leader-Specific Elements (3 parts): Handle_SO101.stl, Trigger_SO101.stl, Wrist_Roll_SO101.stl.
  • Follower-Specific Elements (2 parts): Moving_Jaw_SO101.stl, Wrist_Roll_Follower_SO101.stl.
• Calibration and Fit Test Gauges (4 parts):
  • Gauge_0.STL (STS3215 servo nominal fit check).
  • Gauge_tight_1.STL (STS3215 servo tight tolerance fit check).
  • Lego_Size_Test_02_zero.STL (Standard 4×2 Lego block nominal tolerance verification).
  • Lego_Size_Test_02_minuspoint1.STL (Lego block -0.1 mm tolerance verification).