Koch v1.1 Low-Cost Robot Arm

Dynamixel-based low-cost leader/follower arm pair; an assembly-friendly revision of Alexander Koch's low_cost_robot, used in early LeRobot work.

Frames · Koch v1.1 Low-Cost Robot Arm

5 items · credit and license on each

Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/low_cost_robot_arm (Apache-2.0) · Hyperspawn render · source
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/low_cost_robot_arm (Apache-2.0) · Hyperspawn render · source
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/low_cost_robot_arm (Apache-2.0) · Hyperspawn render · source
From the koch-v1-1 README.Jess Moss (koch-v1-1) · Apache-2.0 · source
Low-Cost Robot Arm AssemblyAlexander Koch · official embed · source

Provenance

No browser-ready model packaged yet.

The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.

Policies listed for Koch v1.1 Low-Cost Robot Arm

No published policy we can replay yet.

Nothing is playing a trained controller in the viewport above. What you see is a PD hold on the stand pose, computed in your tab. A policy plays here when a checkpoint is published with an obs/action contract we can reproduce exactly in MuJoCo, and it passes a 30 s walk test in the tab.

Set up a training run

Train on GPUs

mjlab ships no stock task for Koch v1.1 Low-Cost Robot Arm. The training page gives you the pinned model and the steps to write a robot config.

Build the job →