enactic/openarm
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
Built on a 7DOF architecture with high backdrivability and tuned compliance for safe human-robot interaction, OpenArm integrates across a modular stack: CAN-based low-level motor control, ROS2 middleware, URDF/xacro simulation descriptions, and Isaac Lab for physics-based training. The platform supports teleoperation (unilateral/bilateral control), imitation learning, and sim-to-real workflows, enabling data collection in contact-rich manipulation tasks at human scale and practical payload capacity.
1,907 stars. Actively maintained with 14 commits in the last 30 days.
Stars
1,907
Forks
200
Language
MDX
License
Apache-2.0
Category
Last pushed
Mar 09, 2026
Commits (30d)
14
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