Open-source tools and resources by PathOn Robotics — joint work with PathOnAI.org — for building and controlling real robots.
Website: https://www.pathon.ai/opensource
MakerWorld: https://makerworld.com/en/@user_2131935394 — printable models from PathOn Robotics
Step-by-step tutorials at https://www.pathon.ai/blog
Grouped the way the catalog is: a robot works on its own, an end effector mounts to an arm, a mount joins two things, and equipment is standalone hardware that is not a robot.
| Project | Description | Docs |
|---|---|---|
| SO-101 6DoF Wrist Upgrade | Adds a 6th degree of freedom (wrist pitch + yaw) to the SO-101 arm so it can approach from any angle — STL/STEP, assembly guide, and the URDF/MJCF for the whole arm | hardware/robots/so101_6dof_wrist/ |
| Piper Leader Arm | 3D-printable 6-DOF leader arm for teleoperation built around Feetech SCS215 serial bus servos — hardware files, specs, demo | hardware/robots/piper_leader/ |
| OpenArm Leader Arm(placeholder, under development) | 3D-printable leader arm for teleoperating the 7-DOF OpenArm V2 — joint-position teleop at a fraction of the cost of the motorised leader OpenArm's bilateral path requires | hardware/robots/openarm_leader/ |
| PathOn AGV — Line-Following Shuttle(placeholder, files not yet released) | Line-following shuttle from the Smart Logistics Cell: moves material within one work cell, arm to arm, along tape on the floor — no map, no localization | hardware/robots/agv/ |
| PathOn AMR — Autonomous Mobile Robot(placeholder, files not yet released) | Nav2 mobile robot from the Smart Logistics Cell: carries material between work cells, holds a map, plans its own path, and routes around obstacles | hardware/robots/amr/ |
| Project | Description | Docs |
|---|---|---|
| Symmetric Gripper | Rack-and-pinion parallel-jaw gripper — both fingers move equally, so force is balanced about the tool axis. Mounts to the 6DoF wrist upgrade | hardware/end_effectors/symmetric_gripper/ |
| Dexterous Hand | Compact servo-actuated dexterous hands for prototyping and manipulation research — V1 (DYNAMIXEL XL330) and V2 (Feetech SCS0009), with CAD, STL, and 3MF files | hardware/end_effectors/dexterous_hand/ |
| └ Dexterous Hand V3 — Barrett-style(placeholder, files not yet released) | 3-finger underactuated hand: 8 joints from 4 DYNAMIXEL servos — 2-link fingers plus a coupled spread DOF — with MuJoCo + ROS 2 Jazzy + MoveIt 2 integration | hardware/end_effectors/dexterous_hand/v3/ |
| Project | Description | Docs |
|---|---|---|
| Livox Mid-360 Mount for Unitree Go2 | 3D-printable cantilever bracket that mounts a Livox Mid-360 LiDAR forward of the Go2's head for unobstructed 360° FOV | hardware/mounts/livox_mid360_go2_mount/ |
| Project | Description | Docs |
|---|---|---|
| Handheld 3D LiDAR Scanner(placeholder, files not yet released) | 3D-printable handheld enclosure that turns a Livox Mid-360 into a self-contained walk-around scanner — sensor, Raspberry Pi 5, power bank, and 4G dongle in one printed body | hardware/equipment/handheld_lidar_scanner/ |
| PathOn Conveyor — Sensor-Triggered Infeed(placeholder, files not yet released) | 3D-printed belt conveyor that feeds the Smart Logistics Cell — carries a block to an IR-monitored pick point, where the sensor firing starts the whole line | hardware/equipment/conveyor/ |
| Project | Description | Docs |
|---|---|---|
| Agentic DIY Robot Pipeline | End-to-end "Bring Your Own Robot" pipeline design: text → CAD → URDF/MJCF → end-effector attach → ROS 2, driven by coding agents — architecture and results from the Jan–May 2026 work | software/diy_pipeline/ |
| └ Robot Assets Skills | End-effector attachment stage of the pipeline — a Claude Code skill bundle for working with robot URDF/MJCF assets: attach end-effectors via MuJoCo MjSpec, convert URDF↔MJCF, with the post-processing fixups the underlying scripts don't handle | software/diy_pipeline/robot-assets-skills/ |
| iPhone Sensor Suite | Use iPhone as a full sensor suite (LiDAR, RGB, IMU) for robot manipulation and navigation — includes iOS app, Python SDK, ROS2 driver, and calibration | software/iphone_sensor_suite/ |
See lerobot_resources.md for a curated list of open-source hardware, policy networks, teleoperation tools, datasets, and simulation environments.