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A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
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enactic/openarm
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OpenArm is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. With high backdrivability and compliance, it excels at safe human-robot interaction while delivering practical payload capabilities for real-world applications.
OpenArm featureshuman-scale proportions, safety and compliance, and practical payloads. At $6,500 USD for a complete bimanual system, it provides a flexible platform for teleoperation, imitation learning, simulation, and real-world data collection in contact-rich tasks.
We're in continuous development and actively seeking contributors, research partners, and company collaborators to shape the next generation of practical humanoid systems. Ready to join the future of open-source robotics?
Get yourOpenArm, assembled or DIY, and join the global community!
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| Platform | Description | Link |
|---|---|---|
| Website | Project homepage and media | openarm.dev |
| Documentation | Complete technical guides | docs.openarm.dev |
| Discord | Community discussions | Join Discord |
| Contact | Direct communication | openarm@enactic.ai |
| Repository | Documentation | License | Description |
|---|---|---|---|
| openarm | General Docs | Apache-2.0 | Main project repository with ideas, issues, and feature requests |
| openarm_hardware | Hardware Docs | CERN-OHL-S-2.0 | Complete CAD data: STL files, STEP files, Fusion 360 assemblies |
| openarm_description | Description Docs | Apache-2.0 | Robot description files with URDF/xacro for simulation |
| openarm_can | CAN Docs | Apache-2.0 | CAN control library for low-level motor communication |
| openarm_ros2 | ROS2 Docs | Apache-2.0 | ROS2 integration packages and nodes |
| openarm_teleop | Teleop Docs | Apache-2.0 | Teleoperation packages with unilateral and bilateral control |
| openarm_isaac_lab | Isaac Docs | Apache-2.0 | Isaac Lab simulation environment and training tasks |
All participation in the OpenArm project is governed by ourCode of Conduct.
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A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
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