SO-ARM-Moce: An Improved Open-Source Educational Robotic Arm (Higher Payload, Larger Workspace, ROS-Compatible) – Seeking Community Feedback

[Wanhao]

Hi everyone,

We are preparing to open-source an improved version of the SO-ARM101 robotic arm, called SO-ARM-Moce, and would greatly appreciate feedback from the robotics community before the official release in March.

GitHub:
https://github.com/wanhaoniu/SO-ARM-Moce

What is SO-ARM-Moce?

SO-ARM-Moce is a cost-effective robotic arm (~$400–450 target range) designed for education, research prototyping, and maker development.

Compared to SO-ARM101:

• Increased payload (up to ~1.5 kg)

• Enlarged reachable workspace

• Two key servo joints upgraded to geared reducer modules

• Maintains ~1 mm repeatability

• Python + ROS control support

• Compatible with SO-ARM101 ecosystem, with additional Moce extensions

Why we are posting here

Before open-sourcing hardware files and full documentation, we want feedback on:

1. ROS integration expectations – What interfaces would you expect (ros_control, MoveIt configs, URDF/Xacro structure)?

2. Developer tooling – CLI, GUI, calibration tools?

3. Research usage – What would make this arm more suitable for benchmarking or academic work?

We are particularly interested in suggestions on:

• Standard ROS package structure

• Simulation support (Gazebo / Isaac / MuJoCo)

• Best practices for releasing hardware + firmware + control stack together

Looking forward to your thoughts and technical suggestions.

[chfritz]

What’s with that weird fist? Is it going to punch you in the face when you make a mistake? Maybe it should be called SO-ARM-Pavlov

[Wanhao]

Haha it actually highlights the comparison with SOARM101, which had relatively low torque and payload.
The new front module is designed to significantly improve strength and load capacity — it punches weight limits, not people!