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1. Project Overview
MomoAgent is our enhanced version built on top of SOARM101. While keeping the same 5-DOF architecture and Python + ROS control workflow, we reinforce key joints with metal reduction modules to significantly improve payload capacity and structural stiffness, while also expanding workspace coverage.
Development Motivation
We initially set out to create an affordable, portable robotic arm for our "mystery robot" project but found no existing products on the market that met our requirements. Therefore, MoceAI, with support from servo supplier Feetech, collaborated to develop and release this open-source robotic arm.
This project is designed for:
Makers and open-source hardware developers (rapid secondary development and feature extensions)
Education and lab teaching (ROS/kinematics/control/vision course support)
Lightweight applications and prototyping (pick-and-place, interaction demos, etc.)
2. Appearance and Structure (Image Slots)
2.1 Model Overview
2.2 SOARM101 vs MomoAgent Comparison
2.3 Core Module Close-up (Metal Reduction Module on Key Joint)
3. Key Upgrades (Compared to SOARM101)
Major payload boost: Reinforced key joints with metal reduction modules, resulting in a significant payload increase (validated by experiments).
Larger workspace: Based on public URDF simulation evaluation, workspace area increases by nearly 30%.
Higher stiffness and stability: Reinforced structure provides stronger torsion and deformation resistance, improving overall system stability.
Same precision and control habits: Repeatability remains 1 mm, and control stays Python + ROS, keeping the learning cost low.
More complete ecosystem: Compatible with the upstream LeRobot ecosystem and extended with Moce-specific ecosystem support.
4. Core Metrics Comparison (SOARM101 vs MomoAgent)
The following data is summarized from project comparison materials: payload values come from experiments, workspace-related values come from URDF simulation results.
The conda packages above follow the local momo environment: Python 3.12 plus pyqt=5, vtk, pybullet, pyyaml, requests, and python-dotenv from conda-forge
requirements/advanced.txt includes the base dependencies and adds the Qt GUI / 3D / speech stack
The base install covers robot control, momo_robot_service, and the camera / face_loc headless flow
Nanobot is the default agent backend. Its model/API settings use MOMO_AGENT_NANOBOT_*, falling back to AUTOGRASP_VLM_* from .env when present. Robot tools route through momo_robot_service, not curl or a second SDK session.
