OpenArm
EnacticOpenArm is an open-source seven-degree-of-freedom humanoid arm for physical AI research in contact-rich settings, sold as a complete bimanual system for about $6.5k or built from the published design. Enactic, a Tokyo robotics company, publishes the CAD alongside CAN control, ROS 2, teleoperation, MuJoCo and Isaac Lab packages and a dataset toolkit.
The CAD files live on Google Drive, which the project names as the source of truth, with snapshots mirrored to GitHub releases of the openarm_hardware repository.
Openness
5 medium confidence- form_factor
- board(a complete robot arm, sold assembled or built from the design)
- schematics
- open(full CAD under CERN-OHL-S-2.0)
- toolchain
- open(Apache-2.0 control, ROS 2, teleop and simulation packages)
The full CAD is under a strongly reciprocal CERN open-hardware license, and every software package that drives the arm is Apache-2.0.
- https://docs.openarm.dev/ recorded 2026-09-26
Docs: "Hardware and software — CAD, firmware, control code, and simulation tools — are openly available".
- https://raw.githubusercontent.com/enactic/openarm_hardware/main/LICENSE.txt recorded 2026-09-26
openarm_hardware LICENSE.txt: "CERN Open Hardware Licence Version 2 - Strongly Reciprocal".
- https://raw.githubusercontent.com/enactic/openarm_hardware/main/README.md recorded 2026-09-26
openarm_hardware README: "All CAD files needed to build, print, and customize the OpenArm hardware platform" on Google Drive, with GitHub Releases as mirrors.
- https://raw.githubusercontent.com/enactic/openarm/main/README.md recorded 2026-09-26
README repository table: openarm_hardware "CERN-OHL-S-2.0 | Complete CAD data: STL files, STEP files, Fusion 360 assemblies"; openarm_description, openarm_can, openarm_ros2, openarm_teleop, openarm_isaac_lab, openarm_mujoco, openarm_dataset all Apache-2.0.
Adoption
2 low confidenceGitHub stars on the project's main repository. Enactic publishes no sales figure.
- https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fopenarm recorded 2026-09-26
Repository record for enactic/openarm: 3,369 stargazers.
Capability
3 medium confidenceOpenArm is a two-armed platform with seven joints per arm, built for teleoperated data collection and imitation learning. It has no mobile base and no legs, so it covers only the upper-body part of what a humanoid does.
- https://raw.githubusercontent.com/enactic/openarm/main/README.md recorded 2026-09-26
README: "an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments"; "$6,500 USD for a complete bimanual system ... for teleoperation, imitation learning, simulation, and real-world data collection".
Verified 2026-09-26