openarm

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

PathOn Robotics Open Source Repo on building and controlling real robots

OpenARM is an open-source remake version 7DOF humanoid arm hardware designed for physical AI research and deployment in many environments. With high backdrivability and compliance with cheap Chinese joint motor standards, it excels at safe human-robot.

A tested control, planning, perception, bimanual, and learning platform for the Enactic OpenArm v2 (7-DOF x2) in MuJoCo: IK / Cartesian / compliant control, RRT-Connect planning, dynamic catching and throwing, articulated / cloth manipulation, language-commanded skills, a learned ACT vision policy, RL insertion, and OpenArm-Bench.

Pick & place manipulation with OpenArm robot trained via PPO in Isaac Lab

Two OpenArm v2 arms carry a tray together and keep a ball on it — grasped and balanced from camera images, with collisions on and nothing welded. MuJoCo.

🔨 By Gaming2Gamers (G2G): An open-source Google Carbon (carbon-lang) & C++20 forge for high-performance systems, game engines, Three.js/VRM, robotics, SIMD compute, and local AI.

End-effector pose tools and experiments for OpenArm.

OpenArm-related C++ control and integration workspace.

Real-time teleop_xr-to-CAN bridge for a 14-DOF OpenArm robot

Bimanual OpenArm in Isaac Sim: position-based picks, right-to-left handover, multimodal demo recording — toward teleop, pi0.5 policy integration and evaluation (actively developed)

ROS 2 Jazzy software for the OpenAMRobot upper body: lift and arm models, MoveIt integration, control, bringup, and simulation.

LeRobot teleoperator plugin for the OpenArm KER leader arm

Physics-based OpenArm 2.0 bimanual parcel orientation, handoff, and roller conveyor simulation in MuJoCo.

OpenAMRobot 2.0 upper body: two OpenArm 2.0 arms on a DOLD Hexalift V4 lift. Mechanical design files.

One-file bring-up and control for a bimanual OpenArm (Damiao motors) over PEAK PCAN-USB FD on Linux

Robot that performs posterior lung auscultation: RGB-D point tracking, force-sensing stethoscope placement, and a recording-quality audio model. Work in progress.

OpenArm Vision+Force Control. Mujoco and Cross Emodiment UR5e and FR3

Minimal macOS handoff for two OpenArm Mini leaders controlling bimanual OpenArm V2 in MuJoCo with verified gripper haptics

Isaac Lab extension for the OpenArm manipulator, providing uni-/bimanual tasks for IL/RL.