The SO-101 arm upgraded from 5DoF to 6DoF — two printed wrist links (pitch + yaw) and one added STS3215 servo, so the arm can approach objects from any angle.
Components (3)
link_pitchWrist Pitch Link
link_yawWrist Yaw Link
STS3215 ServoActuator (x1, added)
Specifications
DOF6 (5 stock + 1 added)
Servos1 × STS3215 added (yaw)
BaseBuilt SO-101 / SO-ARM100 required
File formatsSTL, STEP, URDF, MJCF
InterfacesROS 2, MoveIt, MuJoCo
StatusReleased — hardware files, assembly guide