CapraMorph
Desktop robot arm whose metal structure dissolves into a glowing orange wireframe toward the gripper, standing on a dark gridded floor.

CapraWorks · Robot learning

Policies come first. Morphologies later.

CapraMorph is a sim-first robotics research project. Control policies are developed and evaluated in MuJoCo against explicit exit criteria — hardware is the periodic materialisation of what survives the sim gates.

Phase 0 — simulation smoke test

Read the method hello@capramorph.com

01 · Method

Simulation is the primary instrument.

Development happens in simulation before anything is machined, printed or bought. The target platform is the SO-101, a low-cost desktop arm in the lineage of TheRobotStudio's SO-ARM100 — but the arm is the output of the process, not its starting point.

a

Train in sim

Policies are developed and evaluated in MuJoCo, where iteration is cheap and every run is measurable.

b

Gate on evidence

Each phase has explicit exit criteria, written down in advance. A phase either passes its gate or it does not.

c

Materialise periodically

Hardware builds happen only when the simulated evidence justifies them — the physical arm realises what already works.

Dozens of ghosted, translucent robot-arm trajectories; a single solid orange arm passes through a row of glowing rectangular gate frames.
Fig. 1 — Candidate trajectories against gate frames. One survives.

02 · Sim gates

Most candidates don't make it. That is the point.

Candidate policies are trained in simulation and judged against predefined exit criteria. Most are discarded. The few that pass a gate define what the next phase — and eventually the hardware — has to support.

The gates are written before the runs, so a pass means something and a failure is information rather than embarrassment.

Exploded blueprint view of a desktop robot arm: gripper, joints, servos and base separated vertically, annotated with orange schematic callouts.
Fig. 2 — SO-101 morphology, exploded.

03 · Morphology

Hardware is downstream of policy.

The target morphology is the SO-101, a low-cost desktop arm descended from TheRobotStudio's SO-ARM100 design. It is deliberately modest hardware: cheap enough to rebuild, well-understood enough to model.

Physical builds are periodic, not continuous. When a policy survives the sim gates, the arm is assembled to meet it.

04 · Current status

Phase 0 — simulation smoke test.

CapraMorph is at its earliest phase. Phase 0 exercises the simulation stack end to end and is judged against explicit exit criteria. It produces three artifacts:

Telemetry
Machine-readable logs from every smoke-test run.
Video
Rendered rollouts straight from the simulator.
Report
A pass/fail account of the run against the phase's exit criteria.

No learned policies yet, no hardware yet. There is no product, no mailing list and nothing to sign up for. When Phase 0 passes its gate, this page will say so.

05 · Contact

Correspondence

Questions about the project are welcome. The working repository is private for now.