GitHub - enactic/openarm: A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
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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 is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications. OpenArm Cell (on the right) is a standardized environment with unified background, lighting, and camera placement. Research performed using OpenArm can be reproduced around the world in consistent evaluation conditions, facilitating the global discussion on state of the art physical AI research. OpenArm features human-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? 📦 Purchase Your OpenArm! Get your OpenArm, assembled or DIY, and join the global community! Browse verified and certified manufacturers worldwide. Buy Now → 🔗 Quick Links 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 [email protected] 📁 Repositories Repository Documentation License Description 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 openarm_mujoco MuJoCo Docs Apache-2.0 MuJoCo specification files and assets for OpenArm openarm_dataset Dataset Docs Apache-2.0 Dataset format, recording tools, and Python API dora-openarm Dora Docs Apache-2.0 Dora dataflow nodes for data collection, inference, and teleop 📄 Code of Conduct All participation in the OpenArm project is governed by our Code of Conduct.