[ratsbane]

HuggingFace LeRobot. You can build the reference arm easily and cheaply and the software is designed to train AI. There's a lot to explore and extend there and the community is growing rapidly. It's based on the Stanford Aloha project. https://huggingface.co/lerobot

[tomp]

LeRobot is 6DoF.

How much does this matter in practice vs 7DoF arm?

[ratsbane]

Probably not much. Also the LeRobot reference arm (SO-ARM100) is 6DoF, but it's very hackable and there are already project with different grippers, etc.