OpenArm: An open-source 7DOF humanoid arm

Enactic has released OpenArm, an open-source 7-degree-of-freedom humanoid arm priced at $6,500 USD for a complete bimanual system, aimed at physical AI research and deployment in contact-rich environments. The arm is designed for high backdrivability and compliance for safe human-robot interaction, and the project includes a standardized OpenArm Cell environment with unified background, lighting, and camera placement so research can be reproduced worldwide. Hardware CAD files are published under CERN-OHL-S-2.0, while the description, CAN, ROS2, teleoperation, Isaac Lab, MuJoCo, dataset, and Dora repositories are released under Apache-2.0, and Enactic says it is seeking contributors, research partners, and company collaborators.

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? Get your OpenArm , assembled or DIY, and join the global community Browse verified and certified manufacturers worldwide. | Platform | Description | Link | |---|---|---| | Website | Project homepage and media | openarm.dev https://openarm.dev | | Documentation | Complete technical guides | docs.openarm.dev https://docs.openarm.dev | | Discord | Community discussions | Join Discord https://discord.gg/FsZaZ4z3We | | Contact | Direct communication | openarm@enactic.ai mailto:openarm@enactic.ai | | Repository | Documentation | License | Description | |---|---|---|---| | openarm hardware https://github.com/enactic/openarm hardware | Hardware Docs https://docs.openarm.dev/hardware | CERN-OHL-S-2.0 https://github.com/enactic/openarm hardware/blob/main/LICENSE.txt | Complete CAD data: STL files, STEP files, Fusion 360 assemblies | | openarm description https://github.com/enactic/openarm description | Description Docs https://docs.openarm.dev/api-reference/description/ | Apache-2.0 https://github.com/enactic/openarm description/blob/main/LICENSE.txt | Robot description files with URDF/xacro for simulation | | openarm can https://github.com/enactic/openarm can | CAN Docs https://docs.openarm.dev/api-reference/can/ | Apache-2.0 https://github.com/enactic/openarm can/blob/main/LICENSE.txt | CAN control library for low-level motor communication | | openarm ros2 https://github.com/enactic/openarm ros2 | ROS2 Docs https://docs.openarm.dev/api-reference/ros2/install | Apache-2.0 https://github.com/enactic/openarm ros2/blob/main/LICENSE | ROS2 integration packages and nodes | | openarm teleop https://github.com/enactic/openarm teleop | Teleop Docs https://docs.openarm.dev/teleop/ | Apache-2.0 https://github.com/enactic/openarm teleop/blob/main/LICENSE.txt | Teleoperation packages with unilateral and bilateral control | | openarm isaac lab https://github.com/enactic/openarm isaac lab | Isaac Docs https://docs.openarm.dev/simulation/ | Apache-2.0 https://github.com/enactic/openarm isaac lab/blob/main/LICENSE.txt | Isaac Lab simulation environment and training tasks | | openarm mujoco https://github.com/enactic/openarm mujoco | MuJoCo Docs https://docs.openarm.dev/simulation/mujoco | Apache-2.0 https://github.com/enactic/openarm mujoco/blob/master/LICENSE | MuJoCo specification files and assets for OpenArm | | openarm dataset https://github.com/enactic/openarm dataset | Dataset Docs https://docs.openarm.dev/dataset/ | Apache-2.0 https://github.com/enactic/openarm dataset/blob/main/LICENSE.txt | Dataset format, recording tools, and Python API | | dora-openarm https://github.com/enactic/dora-openarm | Dora Docs https://docs.openarm.dev/api-reference/dora/ | Apache-2.0 https://github.com/enactic/dora-openarm/blob/main/LICENSE | Dora dataflow nodes for data collection, inference, and teleop | All participation in the OpenArm project is governed by our Code of Conduct https://github.com/enactic/openarm/blob/main/CODE OF CONDUCT.md .