OpenArm: an open-source robotic arm for human manipulation data collection

OpenArm is an open-source humanoid robot arm designed for AI and robotics research in human-centered environments. Its modular hardware and accessible software make it a flexible platform for teleoperation, imitation learning, and real-world data collection. Our goal is to advance physical intelligence by enabling robots that operate safely and effectively alongside people — in homes, service contexts, and caretaking settings. OpenArm offers high backdrivability and compliance, making it well-suited for interactive, assistive, and data-driven tasks.

The project is under active development, and we’re collaborating with researchers, developers, and labs to shape the next generation of practical humanoid systems.

🚀 OpenArm v0.2 (beta) Updates:

• Gravity Compensation: Smoother teleoperation with real-time compensation.
• Force Feedback Teleoperation: Unilateral and bilateral control with force feedback for better manipulation and data collection.
• URDF Overhaul: Improved default pose and model accuracy.

Watch OpenArm v0.2 in Action:

Table of Contents:

• Quick Start
• About
• Hardware
• Software
  • Arm Control
  • ROS2 Packages
  • Simulation
  • Teleoperation
• Contact Us

Quick Start

git clone --recurse-submodules https://github.com/reazon-research/OpenArm.git

About

This repository includes everything needed to build, simulate, and operate OpenArm — including hardware files, software, and example setups for teleoperation and simulation.

For more information and ways to get involved:

• OpenArm:
  • Website
  • Join our Discord
• Reazon HI Lab:
  • Website
  • X (@ReazonHILab)
  • Contact Us

Hardware

The core design files for OpenArm are available on OnShape, including:

• CAD model
• Bill of Materials (BOM)
• Assembly Guide

Machined, sheet metal, and off-the-shelf components can be purchased through MiSUMi and its manufacturing service Meviy, but similar services worldwide can also be used to procure the necessary parts.

Risk Assessment Guideline

Software

Arm Control

OpenArm’s software stack includes real-time motor control examples, enabling users to quickly set up and start moving the arm. It also provides motor calibration tools, a SocketCAN driver, and a step-by-step tutorials on setting up the CAN interface.

• Arm Control

ROS2 Packages

Packages for camera integration, hardware bringup, and MoveIt2 can all be found under ROS2 packages. URDF descriptions for single and bimanual arm setups are also located here.

• ROS2 Packages

Simulation

To set up OpenArm in simulation environments, example documentation for MuJuCo, MoveIt2 (ROS2), and Genesis are provided.

• Arm Simulation with MuJuCo, MoveIt2, Genesis

Teleoperation

To configure one set of OpenArms to act in teleoperation, the setup is provided in the Unilateral and Bilateral links.

• COMING SOON!

Contact Us

If you would like to get in contact with the OpenArm team with more specific questions about the project, please reach out via email and a member of the team will try to get in touch!

• Email: [email protected]

License

OpenArm is open source under the Apache-2.0 license, see the LICENSE file

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