OpenArm: An open-source 7DOF humanoid arm
Recorded: Sept. 15, 2026, 5 a.m.
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GitHub - enactic/openarm: A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments. · GitHub Skip to content Navigation MenuSign inAppearance settingsPlatformAI CODE CREATIONGitHub CopilotWrite better code with AIGitHub Copilot appDirect agents from issue to mergeMCP RegistryIntegrate external toolsDEVELOPER WORKFLOWSActionsAutomate any workflowCodespacesInstant dev environmentsIssuesPlan and track workCode ReviewManage code changesCode QualityEnforce quality at mergeAPPLICATION SECURITYGitHub Advanced SecurityFind and fix vulnerabilitiesCode securitySecure your code as you buildSecret protectionStop leaks before they startEXPLOREWhy GitHubDocumentationBlogChangelogMarketplaceView all featuresSolutionsBY COMPANY SIZEEnterprisesSmall and medium teamsStartupsNonprofitsBY USE CASEApp ModernizationDevSecOpsDevOpsCI/CDView all use casesBY INDUSTRYHealthcareFinancial servicesManufacturingGovernmentView all industriesView all solutionsResourcesEXPLORE BY TOPICAISoftware DevelopmentDevOpsSecurityView all topicsEXPLORE BY TYPECustomer storiesEvents & webinarsEbooks & reportsBusiness insightsGitHub SkillsSUPPORT & SERVICESDocumentationCustomer supportCommunity forumTrust centerPartnersView all resourcesOpen SourceCOMMUNITYGitHub SponsorsFund open source developersPROGRAMSSecurity LabMaintainer CommunityGitHub StarsArchive ProgramREPOSITORIESTopicsTrendingCollectionsEnterpriseENTERPRISE SOLUTIONSEnterprise platformAI-powered developer platformAVAILABLE ADD-ONSGitHub Advanced SecurityEnterprise-grade security featuresCopilot for BusinessEnterprise-grade AI featuresPremium SupportEnterprise-grade 24/7 supportPricingSearch/Sign inSign upAppearance settings You signed in with another tab or window. Reload to refresh your session. Dismiss alert Uh oh! There was an error while loading. Please reload this page. enactic openarm Public
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mainBranchesTagsGo to fileCodeOpen more actions menuLatest commit History452 Commits452 CommitsFolders and filesNameNameLast commit messageLast commit date.github.github websitewebsite .editorconfig.editorconfig .gitignore.gitignore CODE_OF_CONDUCT.mdCODE_OF_CONDUCT.md CONTRIBUTING.mdCONTRIBUTING.md LICENSELICENSE README.mdREADME.md View all filesRepository files navigationREADMECode of conductContributingApache-2.0 licenseMore itemsOpenArm 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. 📦 Purchase Your OpenArm! 🔗 Quick Links Platform Website Documentation Discord Contact 📁 Repositories Repository openarm_hardware openarm_description openarm_can openarm_ros2 openarm_teleop openarm_isaac_lab openarm_mujoco openarm_dataset dora-openarm 📄 Code of Conduct Footer © 2026 GitHub, Inc. Footer navigation Terms Privacy Security Status Community Docs Contact Manage cookies Do not share my personal information You can’t perform that action at this time. |
OpenArm is an open-source, 7Degree-of-Freedom (7DOF) humanoid arm specifically engineered for physical artificial intelligence research and deployment within contact-rich environments. The design prioritizes safe human-robot interaction by incorporating high backdrivability and compliance, enabling the arm to deliver practical payload capabilities for real-world applications. A key component of the OpenArm system is the OpenArm Cell, which functions as a standardized environment featuring unified background, lighting, and camera placement. This standardization allows research conducted using OpenArm to be reproduced globally under consistent evaluation conditions, thereby facilitating global discourse on the state of the art in physical AI research. The platform offers a flexible framework valued at $6,500 USD for a complete bimanual system, intended to support various advanced research methodologies such as teleoperation, imitation learning, simulation, and real-world data collection in tasks involving physical contact. The project is actively engaged in continuous development and seeks collaboration from researchers, partners, and companies aiming to shape the future of practical humanoid systems. The repository structure indicates a rich, interconnected ecosystem of related tools and resources. The repository contains dedicated folders for hardware documentation, including CAD data such as STL files and STEP files, and descriptions utilizing URDF/xacro for simulation, as well as a CAN control library for low-level motor communication. Furthermore, integration with established robotics frameworks is supported through repositories for ROS2 integration packages and nodes, teleoperation packages offering unilateral and bilateral control, and simulation environments tailored for specific robotics platforms, including Isaac Lab and MuJoCo specification files and assets. For data handling and interaction, the project provides specific tools such as a dataset format, recording tools, and a Python API, alongside Dora dataflow nodes designed for data collection, inference, and teleoperation. This comprehensive collection of code, hardware specifications, simulation tools, and datasets positions OpenArm as a robust platform for advanced robotics research. The project operates under the Apache-2.0 license and is governed by a Code of Conduct, emphasizing community participation and responsible development practices. The project topics broadly encompass areas such as bilateral teleoperation, force feedback, gravity compensation, humanoid robotics, imitation learning, reinforcement learning, and the integration of tools like moveit2mujoco and ROS2. |