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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 is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications.

OpenArm in cell environment

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

PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai

📁 Repositories

RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop

📄 Code of Conduct

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

About

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

openarm.dev

Topics

bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation

Resources

Readme
Apache-2.0 license

Code of conduct

Code of conduct

Contributing

Contributing
Activity
Custom properties

Stars

2.9k stars

Watchers

46 watching

Forks

323 forks
Report repository

Releases

Packages

Used by

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Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
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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 is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications.
OpenArm in cell environment
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
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
About
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
Topics
bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
Resources
Readme
Apache-2.0 license
Code of conduct
Code of conduct
Contributing
Contributing
Activity
Custom properties
Stars
2.9k stars
Watchers
46 watching
Forks
323 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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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 is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications.
OpenArm in cell environment
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
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
About
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
Topics
bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
Resources
Readme
Apache-2.0 license
Code of conduct
Code of conduct
Contributing
Contributing
Activity
Custom properties
Stars
2.9k stars
Watchers
46 watching
Forks
323 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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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 is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications.
OpenArm in cell environment
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
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
About
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
Topics
bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
Resources
Readme
Apache-2.0 license
Code of conduct
Code of conduct
Contributing
Contributing
Activity
Custom properties
Stars
2.9k stars
Watchers
46 watching
Forks
323 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
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 in cell environment
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
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
About
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
Topics
bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
Resources
Readme
Apache-2.0 license
Code of conduct
Code of conduct
Contributing
Contributing
Activity
Custom properties
Stars
2.9k stars
Watchers
46 watching
Forks
323 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
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 in cell environment
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
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
About
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
Topics
bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
Resources
Readme
Apache-2.0 license
Code of conduct
Code of conduct
Contributing
Contributing
Activity
Custom properties
Stars
2.9k stars
Watchers
46 watching
Forks
323 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
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 in cell environment
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
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
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A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
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bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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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 is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications.
OpenArm in cell environment
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!

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🔗 Quick Links
PlatformDescriptionLink
WebsiteProject homepage and mediaopenarm.dev
DocumentationComplete technical guidesdocs.openarm.dev
DiscordCommunity discussionsJoin Discord
ContactDirect communicationopenarm@enactic.ai
📁 Repositories
RepositoryDocumentationLicenseDescription
openarm_hardwareHardware DocsCERN-OHL-S-2.0Complete CAD data: STL files, STEP files, Fusion 360 assemblies
openarm_descriptionDescription DocsApache-2.0Robot description files with URDF/xacro for simulation
openarm_canCAN DocsApache-2.0CAN control library for low-level motor communication
openarm_ros2ROS2 DocsApache-2.0ROS2 integration packages and nodes
openarm_teleopTeleop DocsApache-2.0Teleoperation packages with unilateral and bilateral control
openarm_isaac_labIsaac DocsApache-2.0Isaac Lab simulation environment and training tasks
openarm_mujocoMuJoCo DocsApache-2.0MuJoCo specification files and assets for OpenArm
openarm_datasetDataset DocsApache-2.0Dataset format, recording tools, and Python API
dora-openarmDora DocsApache-2.0Dora dataflow nodes for data collection, inference, and teleop
📄 Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
About
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
openarm.dev
Topics
bilateral-teleoperationforce-feedbackgenesisgravity-compensationhumanoid-robotimitation-learningmachine-learningmoveit2mujocoopen-sourceopenarmpythonreinforcement-learningrobotrobot-armroboticsros2teleoperation
Resources
Readme
Apache-2.0 license
Code of conduct
Code of conduct
Contributing
Contributing
Activity
Custom properties
Stars
2.9k stars
Watchers
46 watching
Forks
323 forks
Report repository
Releases
Packages
Used by
Contributors
Languages