OpenArm

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 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?

?? Ready to build? All hardware and software are completely open-source and ready for you to build, hack, and deploy! Start with our Getting Started Guide

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?? 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	openarm@enactic.ai

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?? Repositories

Repository	Documentation	Description
openarm	General Docs	Main project repository with ideas, issues, and feature requests
openarm_hardware	Hardware Docs	Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_description	Description Docs	Robot description files with URDF/xacro for simulation
openarm_can	CAN Docs	CAN control library for low-level motor communication
openarm_ros2	ROS2 Docs	ROS2 integration packages and nodes
openarm_teleop	Teleop Docs	Teleoperation packages with unilateral and bilateral control
openarm_isaac_lab	Isaac Docs	Isaac Lab simulation environment and training tasks

?? License & Conduct

License: Apache License 2.0 Copyright 2025 Enactic, Inc.
Code of Conduct: All participation is governed by our Code of Conduct