#20 · Primary category： Robotics & Embodied AI Simulation
openarm
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
Project last updated：08/20/26
GitHub Stars
2.9K
Forks
322
Contributors
25
License
Apache-2.0
Why we included this project
OpenArm is a complete 7-DOF humanoid arm built around high backdrivability and compliance, which makes it a good fit for safe human-robot interaction. Alongside the mechanical design, the project ships CAD files, firmware, control code, and MuJoCo and MoveIt2 simulation support, so the same arm can be trained in simulation and then built or bought for real-world contact-rich work. The OpenArm Cell, a standardized environment with fixed lighting, background, and camera placement, is a practical addition for labs that want reproducible evaluation of learned policies. At $6,500 for a complete bimanual system, it is an accessible entry point for teams doing teleoperation, imitation learning, or reinforcement learning on real hardware.
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