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humanoidrobots.training

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Annin Robotics · arm

AR4

Open-plan, low-cost 6-DOF desktop industrial-style robot arm by Chris Annin, programmable via its HMI, Python or ROS.

Frames · AR4

5 items · credit and license on each
  • AR4 studio render, three-quarter front view
    Studio render of the published URDF (xacro), the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from Annin-Robotics/ar4_ros_driver (MIT) · Hyperspawn render · source
  • AR4 studio render, side view
    Side view of the same URDF (xacro) render, the model's zero pose.Rendered by Hyperspawn from Annin-Robotics/ar4_ros_driver (MIT) · Hyperspawn render · source
  • 4 s turntable of the URDF (xacro) studio render.Rendered by Hyperspawn from Annin-Robotics/ar4_ros_driver (MIT) · Hyperspawn render · source
  • Build Your Own Industrial Robot, AR4 6-Axis Open-Source Arm - Low Cost, Python ProgrammableChris Annin · official embed · source
  • AR4 MK5 Open Source Robot Arm | 6DOF Arduino Python ROS2 Automation RobotChris Annin · 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 AR4

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 AR4. The training page gives you the pinned model and the steps to write a robot config.

Build the job →