# OpenAMRobot 2.0: open-source dual-arm mobile manipulator for imitation learning (OpenArm 2.0 on a lift) > Source: > Published: 2026-11-02 21:42:56+00:00 Hi everyone, We are building OpenAMRobot 2.0, a general-purpose open-source mobile manipulator for embodied AI: a mobile base, a 350 mm lift and two OpenArm 2.0 arms (7 DoF each). The goal is that people who know the work teach the robot by demonstration (show, correct, judge) instead of writing robot code. Today we merged the combined robot model: base, lift and both arms in one URDF, running with MoveIt and Gazebo, with the shoulder at 1.00 to 1.35 m. The lift is next as a planned joint. On the learning side, the stack records whole-body demonstrations in ROS 2, with an ACT baseline and evaluation now and VLA models next, all on a single Jetson Orin NX. Repo: [GitHub - openAMRobot/openamr-upperbody-sw: Open-source mobile base with lift for OpenArm 2.0 dual arms: URDF, MoveIt, Gazebo ยท GitHub](https://github.com/openAMRobot/openamr-upperbody-sw) 3D model in the browser: [OpenAMRobot 2.0 Robot](https://docs.openamrobot.ai/assets/roadmap/robot.html) Timeline: rc.1 on 20 November, v2.0.0 on 18 December after physical integration in Berlin. Software MIT, hardware CERN-OHL-P-2.0, docs CC BY 4.0. Feedback we are looking for: If your team needs a mobile base for OpenArm or help integrating one, we offer a fixed-price integration sprint, just reply here. Stars and contributors are very welcome. Alex