The smallest three-finger end-effector with tactile feedback that replaces the SO-101 gripper. It succeeds where the gripper fails, with the dataset and policy to prove it.
An early prototype. The goal is a low-cost, low-weight hand for the SO-101 arm, with LeRobot integration planned.
Five Feetech SCS0009 servos drive index_flex, middle_flex, index_middle_abd, thumb_rot and thumb_flex. Their geometry and limits come from the hand_model.yaml bundled in lamain-core.
The code already handles automatic calibration at reduced torque, a safety filter for range and step limits, the HandController command layer, a keyboard studio for gestures and playback, and per-joint diagnostics. Tests run on a simulated bus, so no hardware is needed.
uv sync # install the workspace and dependencies
uv run lamain --help # CLI overview
uv run pytest # tests on FakeBus, no hardwarelamain/
├── packages/lamain-core/ # reusable library (bus, calibration, safety, controller, demos)
├── packages/lamain-cli/ # the `lamain` CLI (bus, assemble, calibrate, studio, inspect)
├── hands/LM-0001/ # per-hand data, build manifest and calibration files
├── demos/ # gestures and episodes
├── docs/ # roadmap and decision records
└── tests/ # FakeBus tests, run in CI
Next milestones and the planned benchmark are in docs/ROADMAP.md.
The bill of materials is on the LaMain BOM. CAD rev A is not published yet.
Standardize what the sensor sees, diversify everything else.
Software ships under Apache-2.0, see LICENSE. The hardware licence is still pending, see D-003. Datasets are CC-BY-4.0 and live on the Hugging Face Hub, not in git.
Arthur Mourgue and Julien Navet (CAD). Inspired by Pollen Robotics' AmazingHand.