Pathon Robotics Open Source

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

Hardware Projects

Project	Description	Docs
SO-101 6DoF + Symmetric Gripper	6DoF wrist upgrade and symmetric parallel-jaw gripper for the SO-101 arm — hardware files, assembly guide	hardware/so101_6dof_symmetric_gripper/
Piper Leader Arm	3D-printable 6-DOF leader arm for teleoperation built around Feetech SCS215 serial bus servos — hardware files, specs, demo	hardware/piper_leader/
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/dexterous_hand/
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/livox_mid360_go2_mount/

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.