Every piece of the OpenArm 2.0 is open, from hardware CAD files licensed under CERN-OHL-S-2.0 to a software stack released under Apache 2.0. Tokyo-based Enactic designed the 7-degree-of-freedom robot arm for physical AI research, teleoperation, and contact-rich data collection, and the entire control path runs on a Linux PC through SocketCAN, with official support for Ubuntu 22.04 and 24.04. In a field where comparable research platforms like the Franka Panda and its FR3 successor keep their SDKs and hardware designs proprietary, OpenArm bets on full transparency and community modifiability.
The arm uses eight Damiao motors per limb, a mix of quasi-direct-drive and low-ratio planetary actuators, giving it backdrivable joints that yield on contact rather than fighting it. That compliance is central to its bilateral force-feedback teleoperation mode, where an operator feels resistance from the robot's environment in real time. Payload sits at 4.1 kg nominal (held for one minute at full extension) and 6.0 kg peak, with a 606 mm (23.9 inches) reach. The parallel gripper includes an in-hand RGB camera and supports Intel RealSense D435 and D405 depth cameras for overhead and wrist-mounted views. Each arm weighs roughly 5.5 kg (12.1 lbs) and is built from aluminum and stainless steel with 3D-printed casings.
The software ecosystem on GitHub is where OpenArm gets particularly interesting for robotics developers. The stack includes C++ and Python CAN-FD libraries, ROS 2 and MoveIt2 configurations for bimanual operation, MuJoCo and Isaac Lab simulation support, and integration with Hugging Face's LeRobot framework for imitation learning. The kinematics and control utilities lean on the mink QP-based differential inverse-kinematics solver paired with MuJoCo, and a separate mjlab integration provides PPO manipulation training tasks for the bimanual arm on top of MuJoCo Warp and RSL-RL. Enactic also provides Dora nodes for data collection and teleoperation, including a VR teleoperation node built around the Meta Quest 3, and an OpenArm Online platform where researchers can submit trained policies as Docker containers and evaluate them on simulated tasks through a browser. Community contributions extend the ecosystem further, such as a third-party Dora kinematics node for forward and inverse kinematics. Hardware files are available in STEP, STL, and Fusion 360 formats.
Beyond the arm itself, the OpenArm ecosystem includes two companion products. The OpenArm Cell is a standardized evaluation enclosure built from MISUMI aluminum profiles, weighing around 100 kg (220.5 lbs), with a motorized 300 mm Z-axis lift, a calibration jig for consistent zero positioning, and light curtains that halt the robot when someone enters the workspace. The OpenArm KER (Kinematic Equivalent Replica) is a motorless leader arm with 16 magnetic encoders and bearing joints, providing 1:1 motion mapping to the powered arm with minimal resistance during long teleoperation sessions. The KER's full release timeline has not yet been announced.
Enactic sells through certified manufacturers rather than directly. WowRobo lists the OpenArm 2.0 starting at $6,500 (approximately €5,980), the Cell at $6,200 (€5,700), and the KER at $2,599 (€2,390), with 20 to 40 day lead times and worldwide shipping. RT Corporation in Japan also supplies assembled units with pricing by quotation. At that price point, OpenArm undercuts the ALOHA bimanual platform (typically $20,000 to $30,000 fully built) and industrial arms like the Franka FR3 by a wide margin, while offering hardware designs that researchers can freely modify, manufacture, and redistribute.
