Is this 3D model free to download?

Yes, Pinkrab & Hermit (6 DOF + 1 Gripper) is free to download from MakerWorld. Open it in the free Thinger app, or use the "Download from MakerWorld" link to open the original listing by the creator.

Where do I download the STL file?

The download is hosted by MakerWorld. Use the "Download from MakerWorld" link on this page to open the original listing and grab the file, or save it to your print queue in the free Thinger app.

Designed by woolimi, published on MakerWorld. Please credit the creator when sharing your print.

Can I print this at home?

Yes. This is a printable 3D model intended for home FDM and resin printers. Check the original listing for suggested print settings.

Pinkrab & Hermit (6 DOF + 1 Gripper) 3D printable model by woolimi

Pinkrab & Hermit (6 DOF + 1 Gripper) photo 1

Pinkrab & Hermit (6 DOF + 1 Gripper) photo 2

Pinkrab & Hermit (6 DOF + 1 Gripper) photo 3

Pinkrab & Hermit (6 DOF + 1 Gripper) photo 4

Pinkrab & Hermit (6 DOF + 1 Gripper)

Source: MakerWorld by woolimi

The Pinkrab & Hermit (6 DOF + 1 Gripper) is a free printable 3D model from MakerWorld by woolimi. Pinkrab (pink + crab) is a pair of 6-DoF robot arms that hang on an IKEA SKÅDIS pegboard behind your desk. You can download the STL file from the original listing below and print it at home.

Open in Thinger (free) Download from MakerWorld

30 saves Source: MakerWorld Updated 2026-11-02 License: CC-BY-NC-SA · non-commercial Category: Vehicles & RC

Tags: soarm101, huggingface, qubit, soarm, bimanual, 6dof, sts3215, imitation learning, ros2, skadis pegboard, umi

About this model

Pinkrab (pink + crab) is a pair of 6-DoF robot arms that hang on an IKEA SKÅDIS pegboard behind your desk. Each arm is an SO-ARM 101 with an added wrist yaw joint (6 joints + gripper, 7 STS3215 servos), an L-shaped wall base and a global-shutter fisheye wrist camera. Like a crab, the body stays put and the claws do the work.Pinkrab is made for imitation learning. Demonstrations are recorded with Hermit, a handheld gripper with the same claw and camera (separate model page), and policies are trained with LeRobot. Hermit also drives the arms live as a teleoperation device.PRINT PROFILEBambu Lab P2S, 0.4 mm nozzle, Textured PEI plate, Bambu PLA Basic. Four plates for both arms: about 27 h and 794 g.If you slice the STL files yourself, turn mesh repair off: the upper arm has sealed voids insid…

Frequently asked questions

Is this 3D model free to download?: Yes. Pinkrab & Hermit (6 DOF + 1 Gripper) is free to download from MakerWorld. Open it in the free Thinger app, or use the "Download from MakerWorld" link above to open the original listing.
Where is the STL hosted?: The download is hosted by MakerWorld, not by Thinger. We link you directly to the original listing by woolimi.
Who made this model?: Designed by woolimi, published on MakerWorld. Please credit the creator when sharing your print online.
Can I print this at home?: Yes. This model is intended for home FDM and resin 3D printers. Check the original listing for suggested print settings like layer height and supports.