An upgrade kit for the SO-101 robotic arm, adding a 6th degree of freedom (wrist pitch + yaw) and a symmetric parallel-jaw gripper. The 6DoF wrist enables the arm to approach objects from any angle, and the symmetric gripper provides balanced grasping force -- together enabling seamless integration with state-of-the-art grasp generation models and making it easier to grasp objects reliably.
Fully assembled SO-101 6DoF arm with symmetric gripper on a playground setup with overhead camera mount.
RViz visualization showing MoveIt motion planning, robot model, TF frames, and point cloud overlay.
The standard SO-101 is a 5DoF arm. This upgrade replaces the wrist with two new 3D-printed links (pitch and yaw), adding a 6th degree of freedom for greater dexterity.
link_pitch-- wrist pitch jointlink_yaw-- wrist yaw joint
A rack-and-pinion parallel-jaw gripper where both fingers move equally, providing balanced gripping force. Designed for reliable pick-and-place and manipulation tasks.
frame-- gripper bodycam-- cam mechanismrack_up/rack_down-- rack pair for symmetric motionl_gripper/r_gripper-- left and right finger
You need a built SO-101 arm as the base. This kit provides the additional parts for the 6DoF upgrade and symmetric gripper.
We implement a vision-language grasping pipeline using SAM3 for segmentation and grasp generation models. Given a natural language command (e.g., "pick up the banana"), the system segments the target object and plans a grasp.
https://www.loom.com/share/2fed8ad63ee7416fad60bd227efd1a95
Simulated pick-and-place with vision-language grasping.
The real robot is integrated with ROS2 MoveIt for motion planning, with point cloud overlay for scene understanding.
https://www.loom.com/share/303cc35079a64f459af959ff9830bfd2
MoveIt motion planning with point cloud overlay on the physical SO-101 6DoF arm.
Vision-language grasping running on the physical SO-101 6DoF arm.
https://www.loom.com/share/fe4379299d904ffc811d0ab0f7dc357c
Real-robot pick-and-place with vision-language grasping.
- Print the 3D parts -- see hardware/ for files and assembly instructions
- Assemble the wrist upgrade and gripper onto your SO-101
- Software integration -- coming soon
| Date | Release |
|---|---|
| -- | Software release: digital twin, ROS2, MoveIt config, MuJoCo simulation (coming soon) |
| 2026-04-16 | Demo video: vision-language grasping (real robot) |
| 2026-04-14 | Software release: URDF, MJCF, and meshes for SO-101 6DoF symmetric gripper |
| 2026-04-13 | Assembly guide with images and print orientation for 6DoF wrist and gripper |
| 2026-04-12 | Bill of materials for 6DoF wrist upgrade and symmetric gripper |
| 2026-04-07 | Demo videos: vision-language grasping (simulation), MoveIt motion planning with point cloud (real robot) |
| 2026-04-07 | Hardware release: 6DoF wrist (pitch + yaw) STL/STEP files, symmetric gripper STL/STEP files |
See the root LICENSE for details.