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 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?

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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	[email protected]

📁 Repositories

Arm support: ◯ supported · △ adaptation and test needed · ◌ work in progress - incompatible

Core

Repository	Documentation	License	1.0	2.0	Description
openarm_hardware	Docs	CERN-OHL-S-2.0	◯	◯	CAD, STL and BOM for OpenArm, Cell and KER
openarm_description	Docs	Apache-2.0	◯	◯	URDF/xacro robot description
openarm_can	Docs	Apache-2.0	◯	◯	CAN motor control library and CLI
openarm_ros2	Docs	Apache-2.0	◯	◯	ros2_control and MoveIt packages
openarm_mujoco	Docs	Apache-2.0	◯	◯	MuJoCo models, including the Cell scene
openarm_isaac_lab	Docs	Apache-2.0	◯	◌	Isaac Lab environments and RL tasks
openarm_dataset	Docs	Apache-2.0	◯	◯	Dataset format, Python API, LeRobot conversion
openarm_teleop	Docs	Apache-2.0	◯	△	Leader-follower teleoperation (1.0); for 2.0 see dora-rs below

dora-rs: teleoperation, data collection, inference

The tutorial runs on dora-rs. Each dora-openarm-* repository is one node; a dataflow YAML wires nodes together and dora run starts the application. Swap nodes to go between real arms and MuJoCo, or between KER and VR. openarm_ros2 is an independent stack on openarm_can; dora-openarm-ros2 bridges the two.

Repository	Documentation	License	1.0	2.0	Description
dora-openarm-data-collection	Tutorial	Apache-2.0	△	◯	Dataflows: KER / VR / WebXR, real or MuJoCo
dora-openarm-evaluation	Tutorial	Apache-2.0	△	◯	Dataflows: policy inference and evaluation
dora-openarm-*	Docs	Apache-2.0	△	◯	Nodes: arm, KER, VR, WebXR, kinematics, MuJoCo, observer, ROS 2, ...

OpenArm KER

A motorless leader arm with the same kinematics as OpenArm 2.0, used in the KER tutorial. CAD is in openarm_hardware.

Repository	Documentation	License	1.0	2.0	Description
openarm_ker	Docs	Apache-2.0	–	◯	PC-side library and CLI
openarm_ker_firmware	Docs	Apache-2.0	–	◯	Encoder and M5 display firmware

📄 Code of Conduct

All participation in the OpenArm project is governed by our Code of Conduct.