enactic / openarm

A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.

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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?* > ### 📦 Purchase Your OpenArm! > Get your **OpenArm**, assembled or DIY, and join the global community! > Browse verified and certified manufacturers worldwide. > > **Buy Now →** ⭐ Star History 🔗 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 | 📁 Repositories | 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 | 📄 Code of Conduct All participation in the OpenArm project is governed by our Code of Conduct.