# OpenArm

> Source: https://aiwiki.ai/wiki/openarm
> Updated: 2026-09-16
> Fact-checked: 2026-09-16
> Categories: Embodied AI, Open Source AI, Robot Hardware, Robotics
> License: CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/) - attribute to "AI Wiki (aiwiki.ai)"
> Cite as: AI Wiki. "OpenArm." aiwiki.ai, 16 Sept 2026. https://aiwiki.ai/wiki/openarm
> From AI Wiki (https://aiwiki.ai), the free encyclopedia of artificial intelligence. Reuse freely with attribution.

**OpenArm** is an open-source, seven-degree-of-freedom humanoid robot arm developed by Enactic, Inc., a Tokyo robotics company. The project publishes the arm's CAD files, bill of materials, firmware, control libraries, simulation assets and teleoperation code so that research groups can build or buy the hardware and reproduce each other's experiments. Its stated purpose is [physical AI](https://aiwiki.ai/wiki/physical_ai) research and deployment in contact-rich environments: most joints use backdrivable [quasi-direct-drive](https://aiwiki.ai/wiki/quasi_direct_drive) motors chosen for compliance and safe human-robot interaction (the middle joints use a 40:1 Damiao motor that Enactic says is not QDD), while keeping a nominal payload of 4.1 kg per arm.[1][2] The software repositories are licensed under the [Apache License 2.0](https://aiwiki.ai/wiki/apache_license) and the hardware repository under CERN-OHL-S-2.0.[1]

The current generation, OpenArm 2.0, launched in May 2026 and widened the project from a single arm into a three-part platform: the arm, a standardized evaluation enclosure called OpenArm Cell, and a motorless leader arm called OpenArm KER for teleoperation.[3][4] Several unrelated GitHub projects also use the name OpenArm; this article covers only the Enactic project at github.com/enactic/openarm and openarm.dev.

## Origin and maintainer

The main repository was created on 29 September 2024 under the GitHub organization `reazon-research`, and its early release notes still point at `reazon-research/OpenArm` pull requests; that path now redirects to `enactic/openarm`.[5][6] Enactic, Inc. was founded in July 2025 with its headquarters in Yotsuya, Shinjuku, Tokyo, and a lab in Akihabara. Its own description of the business is "humanoids that care": the company is building a humanoid care robot named Ena, targeted at Japanese nursing-care facilities and scheduled for a beta launch in late 2026, and treats OpenArm as its open-source research line.[3] Press releases issued in March and June 2026 name Hiroto Yamamoto (山本泰豊) as representative director; the company website in September 2026 lists Daijiro Mori as representative.[3][7][8] Enactic's June 2026 release says the company has partnered with more than 90 care providers.[8]

Enactic also hosts English and Japanese documentation for the Damiao motors used in the arm at damiao.enactic.ai, and the OpenArm motor page links to those datasheets.[9][10]

## Version history

| Date | Milestone | Source |
|---|---|---|
| 29 Sep 2024 | `openarm` repository created (originally under `reazon-research`) | GitHub API[5] |
| 2 Oct 2024 | Teleoperated bartender demonstration video, the earliest item on Enactic's news list | enactic.ai[3] |
| 19 Feb 2025 | v0.1, "the first release of OpenArm" | GitHub release[6] |
| 4 Apr 2025 | v0.2: `openarm_ros2` and MJCF submodules, repository reorganization, "secured motor supply chain" | GitHub release[6] |
| 8 May 2025 | v0.3: MoveIt2 on bimanual hardware, CAN-FD control on STM32, ros2_control for 7-DoF arm plus 1-DoF gripper (16 DoF bimanual), crossed-roller bearings for higher payload, GR00T N1 fine-tuned and deployed on the hardware | GitHub release[6] |
| 24 Jul 2025 | OpenArm 01 open-sourced: "All hardware and software are now live" | Enactic on X[11] |
| 30 Oct 2025 | Fully assembled units available worldwide "starting at $5,000" through WowRobo and RT Corporation | Enactic on X[12] |
| 31 Oct 2025 | Release 1.1, "OpenArm 01: Release No.2": automated zero-position calibration, RealSense D435/D405 camera mounts, J5 leader casing, J2 wiring, PCB hub case | GitHub release[6] |
| 25 Dec 2025 | Official OpenArm model integrated into [NVIDIA Isaac Lab](https://aiwiki.ai/wiki/isaac_lab) | Enactic on X[13] |
| 27 Feb 2026 | [LeRobot](https://aiwiki.ai/wiki/lerobot) v0.4.4 adds OpenArm robot, teleoperator and bimanual follower/leader classes | LeRobot release notes[14] |
| 3 Mar 2026 | "OpenArm 02" announced as a dual-arm platform for reproducible evaluation, "releasing soon" | Enactic on X[15] |
| 16-19 Mar 2026 | OpenArm Cell shown publicly for the first time at NVIDIA GTC 2026 (booth 3418), running two policies side by side with automatic success scoring | PR TIMES[7] |
| May 2026 | OpenArm 2.0 launched; 2.0 documentation committed 15-18 May 2026 | enactic.ai, GitHub commits[3][16] |
| 26 Jun 2026 | OpenArm KER released, which Enactic called "the completion of the OpenArm 2.0 ecosystem" | Enactic on X[4] |

The March 2026 GTC press release said OpenArm 2.0 was planned for April 2026 and that the repository had passed 1,700 GitHub stars as of February 2026; the launch slipped to May, and by mid-September 2026 the repository had about 3,360 stars and 366 forks.[5][7] Note that GitHub's tag list jumps from 0.3 to 1.1; the July 2025 "OpenArm 01" launch was announced on X and on enactic.ai rather than as a tagged release.[6][11]

## OpenArm 2.0 hardware

### Specifications

Enactic's documentation defines the payload figures precisely. Nominal payload is the weight that can be held for one minute in the worst posture (arm fully extended); peak payload is the weight that can be moved from arms-down into the worst posture over three seconds, held for one second, and returned. Both figures include the end effector, so an arm carrying a 1.5 kg gripper has 2.6 kg nominal and 4.5 kg peak capacity left for the object.[2]

| Item | OpenArm 2.0 | Where it is documented |
|---|---|---|
| [Degrees of freedom](https://aiwiki.ai/wiki/degrees_of_freedom) | 7 per arm, plus a 1-DoF gripper | Hardware docs, ROS 2 notes[2][6][17] |
| Nominal payload | 4.1 kg (includes end effector) | Hardware docs, prose[2] |
| Peak payload | 6.0 kg (includes end effector) | Hardware docs, prose[2] |
| Arm reach | 606 mm | "Key features" graphic only[2] |
| Weight per arm | 5.5 kg | "Key features" graphic only[2] |
| Control loop | 1 kHz over CAN-FD | "Key features" graphic only[2] |
| Actuators | Damiao DM-J4310-2EC V1.1, DM4340 series, DM-J8009P-2EC | Motor docs[10] |
| Transmission | Gear reduction integrated in each motor: 10:1 (4310), 40:1 (4340), 9:1 (8009P) | Motor docs[10] |
| Rated / peak torque | 3 / 7 Nm (4310); 9 / 27 Nm (4340); 20 / 40 Nm (8009P) | Motor docs[10] |
| Encoders | Two 14-bit single-turn magnetic encoders per motor | Motor docs[10] |
| Communication bus | CAN (CAN-FD at 5 Mbps data rate recommended; CAN 2.0 at 1 Mbps supported) | Setup guide[18] |
| Supply voltage | 24 V (the 8009P is rated for 24-48 V) | Motor docs, setup guide[10][18] |
| Structure | Aluminum and stainless steel; MISUMI aluminum-frame support pillars; base plate with M6 taps; mechanical limit on every joint | Hardware docs[2][17] |
| End effector | Compact parallel gripper with built-in in-hand camera and replaceable fingers | Gripper docs[19] |
| Bill of materials | $6,500 for a complete bimanual system | README, "Key features" graphic[1][2] |

The reach, per-arm weight and 1 kHz figures appear only in the summary graphic at the top of the hardware page and not in the mechanical text; the equivalent OpenArm 1.0 graphic listed a 633 mm reach; Enactic has not explained the difference, which may reflect the redesigned, more compact 2.0 gripper.[2][20] The docs describe the arm as "scaled for a person around 160-165 cm tall" to balance reach against inertia.[17] The complete 3D CAD and bill of materials are distributed through a Google Drive folder linked from the hardware page, alongside the `openarm_hardware` GitHub repository of STL, STEP and Fusion 360 files.[1][2]

### Motors and transmission

OpenArm uses three Damiao motor families, chosen joint by joint to trade payload against bulk: the small DM-J4310 at the wrist, the DM4340 series in the middle of the chain, and the 98 mm DM-J8009P at the shoulder. Motors with cross-roller bearings are used where a joint is supported on one side only. The documentation is candid that the DM4340 series, with its 40:1 reduction, "is not a QDD motor" and was chosen "to balance high payload capacity with a clean, compact appearance"; the 4310 (10:1) and 8009P (9:1) are the low-ratio, backdrivable actuators.[10] The docs also note that the linked 8009 datasheet is for the DM8009 rather than the DM8009P actually fitted, and describe the two as nearly identical.[10] This is the opposite choice from joints built on high-reduction [harmonic drive](https://aiwiki.ai/wiki/harmonic_drive) gearing, which resists being pushed by hand.

### Gripper

The 2.0 end effector replaced the 1.0 linkage-driven parallel gripper with a simpler actuation mechanism to shrink the envelope for work in confined spaces. A camera sits inside the gripper case so in-hand vision is captured during grasping, and the finger geometry was shaped to keep that view unobstructed. Fingers are designed to be swapped so that users can test task-specific geometries without redesigning the gripper.[19][21] The 1.0 gripper, by comparison, opened to a maximum jaw gap of 88 mm with a 60-degree rotor travel and used ball-bearing slider rails to stay smooth for force feedback; its `J8_B` interface part was the documented point for mounting a custom end effector.[22]

## Backdrivability and bilateral control

The design argument runs through every OpenArm document: a quasi-direct-drive joint with a low gear ratio can be pushed by hand and gives way on contact instead of fighting it. Enactic's overview lists "QDD backdrivable motors and high compliance" under a "safety-first architecture" and describes "bilateral force feedback for contact-rich teleoperation and high-fidelity data collection, beyond what unilateral leader-follower setups can capture."[17] The same property is a hazard the safety guide flags explicitly: because the arm is so backdrivable, a load will "fall rapidly" if an emergency stop cuts power.[23]

The teleoperation stack offers two modes. Unilateral control sends the leader arm's joint positions to the follower with no feedback, which the docs recommend for free-space motion and warn is easy to overload during contact. Bilateral control closes a two-way loop so the operator feels what the follower touches. The `openarm_teleop` implementation runs leader, follower and admin threads on a periodic timer, tunes per-joint position and velocity gains, and applies a tanh-based friction model (`tau_f = Fc * tanh(k * dq) + Fv * dq + Fo`) to compensate Coulomb and viscous friction. Bilateral control requires a control rate of at least 500 Hz, and the docs warn that bad gains produce oscillation.[24][25] All motor commands go through the Damiao MIT control mode, which takes a `{kp, kd, q, dq, tau}` tuple per motor and returns position, velocity, torque and temperature.[9]

## Software stack

| Repository | Purpose | License |
|---|---|---|
| `openarm_hardware` | STL, STEP and Fusion 360 CAD | CERN-OHL-S-2.0 |
| `openarm_description` | URDF/xacro for v1.0 and v2.0, bimanual presets, pinch-gripper and parallel-link end effectors | Apache-2.0 |
| `openarm_can` | C++ CAN library on Linux SocketCAN; Ubuntu packages `libopenarm-can-dev` and `openarm-can-utils` from the `ppa:openarm/main` archive | Apache-2.0 |
| `openarm_ros2` | ros2_control hardware interface and `openarm_bringup` launch files for mock or real hardware | Apache-2.0 |
| `openarm_teleop` | Unilateral and bilateral leader-follower control | Apache-2.0 |
| `openarm_isaac_lab` | Isaac Lab environments: reaching, cube lifting, drawer opening, bimanual reaching | Apache-2.0 |
| `openarm_mujoco` | MJCF models, including `openarm_bimanual.xml` | Apache-2.0 |
| `openarm_dataset` | Parquet-plus-JPEG recording format and Python API | Apache-2.0 |
| `dora-openarm` and roughly 30 further `dora-*` node repositories | dora-rs dataflow nodes for data collection, KER and VR teleoperation, policy servers, evaluation UI, Cell lifter | Apache-2.0 |

Sources: README repository table and GitHub organization listing.[1][5]

The description package supports both hardware generations through an `arm_type` argument; v2.0 uses named presets such as `default_bimanual`, `right_arm` and `left_arm_with_pinch_gripper`.[26] The ROS 2 bringup exposes the arm as a position, velocity and torque command interface, launches either fake or real hardware, and takes separate CAN interfaces for the left and right arms; the docs flag the hardware bridge and gripper bridging as still under active development.[27] MuJoCo support is a set of MJCF files with torque-controlled actuators and separate visual and collision geometry groups, maintained for the [MuJoCo](https://aiwiki.ai/wiki/mujoco) engine.[28] The Isaac Lab repository is pinned to Isaac Sim 5.1.0 and Isaac Lab 2.3.0 at the time of writing, and Enactic states the model is officially integrated into NVIDIA's Isaac ecosystem.[13][29]

Outside Enactic's own code, Hugging Face's LeRobot added `openarm_follower`, `openarm_leader`, `bi_openarm_follower` and `bi_openarm_leader` classes in v0.4.4 (27 February 2026), plus an "OpenArm Mini" teleoperator; later releases fixed OpenArm Mini feature compatibility (v0.6.0) and stopped zeroing positions on connect (v0.6.1).[14] LeRobot's OpenArm page notes that the CAN adapter has no macOS driver and the integration is Linux-only.[30]

The dataset format stores per-episode `action` and `obs` trees of Parquet files (joint position, velocity and torque per arm, plus a lifter elevation channel) alongside timestamped JPEG frames from ceiling, head and wrist cameras, with a `metadata.yaml` describing tasks and success flags; it installs with `pip install openarm_dataset` and requires Python 3.10 or newer.[31] Tutorials cover data collection with KER, with a VR headset, and over WebXR, followed by training and inference.[32]

## OpenArm Cell and OpenArm KER

OpenArm Cell is the evaluation enclosure introduced with 2.0. Its premise is that a claim like "Model A outperforms Model B" is only meaningful when both were run under identical conditions, so the Cell fixes background, lighting, camera placement and arm mounting position. The enclosure and power system are built from MISUMI off-the-shelf parts, a vertically adjustable Z-axis lifts both arms to suit workpiece height, an area-sensor "reach-in stop" cuts power if someone enters the workspace, and a calibration jig mechanically constrains the gripper to its CAD-defined zero angles so assembly tolerances do not leak into datasets. Each Cell weighs roughly 100 kg and draws roughly 480 W before the PC is counted.[21][33] WowRobo's kit lists the frame at 1100 x 926 x 1883 mm with a 300 mm Z-axis.[34] At GTC 2026 Enactic ran two policies in one Cell with success judged automatically and scores displayed live.[7]

OpenArm KER, the Kinematic Equivalent Replica, is a leader arm with no motors: every joint has a magnetic encoder and bearings, the joint structure matches OpenArm 2.0 exactly, and the link lengths are scaled to 70 percent, so joint angles map one-to-one to the follower without retargeting. The whole device weighs 1.7 kg (CFRP tubes, machined aluminum and resin), mounts on the shoulders like a backpack in about 30 seconds, and folds into a travel case. All axes share a common encoder module that daisy-chains with individually assigned IDs, which is enough for a 7-plus-1 DoF controller.[35][36] WowRobo's listing specifies 16 Infineon TLE5012B 15-bit absolute encoders across a bimanual KER.[34] The "What's New in 2.0" page still carries a note that KER "has not been released yet"; Enactic announced its release on 26 June 2026 and the firmware repository was created on 24 June 2026.[4][5][21]

## Cost and availability

OpenArm can be built from the public files or bought assembled. The README quotes $6,500 for a complete bimanual system, and the same figure is labelled "Bill of Materials" on the hardware graphic.[1][2] Enactic's purchase page, which the project says "updates regularly as we certify vendors", lists two official partners and eight other vendors as of September 2026.[34]

| Vendor | Status on purchase page | Listed prices (USD) | Notes |
|---|---|---|---|
| WowRobo (Shenzhen) | Certified, three stars | $5,400 (V1.1), $6,500 (V2), $6,200 (Cell), $2,599 (KER), $49 (KER encoder unit) | 20-40 day lead time; worldwide; V1-to-V2 upgrade kit; also the official SO-ARM101 manufacturer |
| RT Corporation (Tokyo) | Official partner, "Evaluating" | By quotation | Japan-focused; setup, testing, Japan-spec adapter, optional one-year warranty |
| Anvil Robotics (Taipei) | Not evaluated | $5,600 (V2) | Ships within 48 hours |
| Cereboto (Dongguan) | Evaluating | $6,280 (V2, no camera), $7,080 (V2 with camera), $5,000 (V1), $1,000 (V1-to-V2 kit), $2,399 (KER) | Worldwide |
| VLAI Robotics, Soma Robotics, PowerZ, SVTRobotics, Tianjin Muniu Liuma, MJTWO | Evaluating or not evaluated | $4,699 to $6,430 | Various |

The purchase page marks unevaluated vendors as "not guaranteed to work with official OpenArm software" and warns that the "OpenArmX Pro Max" sold by one vendor is not affiliated with or compatible with the project.[34] The Enactic announcement of worldwide availability on 30 October 2025 quoted a starting price of $5,000 for OpenArm 1.x.[12]

## Research and deployment use

The project fine-tuned and deployed NVIDIA's GR00T N1 foundation model on OpenArm hardware by May 2025, while the repository still lived under Reazon Research; the 0.3 release notes point to a `reazon-research/Isaac-GR00T` fork.[6] In June 2026 it began what it described as Japan's first practical validation of [NVIDIA Isaac GR00T](https://aiwiki.ai/wiki/nvidia_isaac_gr00t) N1.7 in nursing care, using OpenArm 2.0 as the evaluation platform and listing Isaac Sim, Isaac Lab, Cosmos, DGX H100 training and Jetson Thor edge inference as the stack.[8] The March 2026 press release described the project as used for research by "domestic and international research institutions and companies", without naming them.[7]

The `openarm_dataset` layout, the Cell lifter channel, and the dora-rs evaluation nodes are all built around the AutoEval idea Enactic credited in its March 2026 announcement to Zhiyuan Zhou's work on continuous real-world policy evaluation: run policies around the clock with minimal human intervention and compare them side by side.[15] Whether the Cell yields comparable numbers across labs is a claim the project is making about its own design; no independent cross-lab study had been published as of September 2026.

## Comparison with other open-source arms

| Arm | DoF | Actuation | Documented payload | Reach | Hardware / software license |
|---|---|---|---|---|---|
| OpenArm 2.0 (Enactic) | 7 plus gripper | Damiao brushless motors (9:1 to 40:1 reduction), 24 V, CAN-FD | 4.1 kg nominal, 6.0 kg peak (including end effector)[2] | 606 mm (graphic only)[2] | CERN-OHL-S-2.0 / Apache-2.0[1] |
| [reBot Arm](https://aiwiki.ai/wiki/rebot_arm) B601-RS (Seeed Studio) | 6 plus gripper | RobStride motors, 48 V DC | 2.5 kg[37] | 754 mm[37] | CERN-OHL-W-2.0 / Apache-2.0[37] |
| [SO-101](https://aiwiki.ai/wiki/so_101) (TheRobotStudio and Hugging Face) | 5 plus gripper (six Feetech STS3215 servos on the follower) | 7.4 V serial-bus servos | Not published in the repository[38] | Not published in the repository[38] | Apache-2.0[38] |
| ViperX-300 6DOF as used in [ALOHA](https://aiwiki.ai/wiki/aloha_robot) (Trossen Robotics) | 6 | Dynamixel XM540/XM430 servos | 750 g working payload, recommended at no more than 50 percent extension[39] | 750 mm[39] | Commercial arm; ALOHA software open |

Payload definitions differ between vendors (Enactic's "nominal" is a one-minute hold at full extension; Trossen's "working payload" comes with an extension caveat), so the column is not a like-for-like ranking.

## References

1. Enactic. "enactic/openarm" README. GitHub. Accessed 16 September 2026. https://github.com/enactic/openarm
2. Enactic. "OpenArm 2.0: General" (dimensions, payload definitions, key-features graphic). docs.openarm.dev. Source file website/docs/hardware/openarm-2.0/general.mdx, accessed 16 September 2026. https://docs.openarm.dev/hardware/openarm-2.0/general
3. Enactic, Inc. Company website (news list, company profile, OpenArm 2.0 "Launched May 2026"). Accessed 16 September 2026. https://enactic.ai/
4. Enactic (@enactic_ai). "We are excited to announce the release of a new OpenArm teleoperation device: KER..." X, 26 June 2026. https://x.com/enactic_ai/status/2070582925998117068
5. GitHub REST API. Repository metadata for enactic/openarm (created 2024-09-29, stars, forks) and organization listing for enactic (Enactic, Inc., Japan, org created 2025-05-16). Accessed 16 September 2026. https://api.github.com/repos/enactic/openarm
6. Enactic. "Releases: enactic/openarm" (0.1, 0.2, 0.3, 1.1). GitHub. https://github.com/enactic/openarm/releases
7. Enactic, Inc. "【株式会社Enactic】NVIDIA 主催のGTC 2026 に出展" (GTC 2026 exhibition, OpenArm Cell first showing, 1,700+ stars as of February 2026, 2.0 planned for April 2026). PR TIMES, 12 March 2026. https://prtimes.jp/main/html/rd/p/000000004.000166268.html
8. Enactic, Inc. "株式会社Enactic、NVIDIA GR00T N1.7の介護領域における日本初の実用性検証を開始" (GR00T N1.7 nursing-care validation; 90+ care providers; company profile). PR TIMES, 2 June 2026. https://prtimes.jp/main/html/rd/p/000000006.000166268.html
9. Enactic. "OpenArm CAN Library" (three-layer architecture, Damiao MIT control mode). docs.openarm.dev. https://docs.openarm.dev/api-reference/can/
10. Enactic. "OpenArm 2.0: Motor" (motor selection, DM-J4310-2EC V1.1 / DM4340 series / DM-J8009P-2EC specification table, links to damiao.enactic.ai datasheets). docs.openarm.dev. https://docs.openarm.dev/hardware/openarm-2.0/motor
11. Enactic (@enactic_ai). "We just open-sourced #OpenArm 01..." X, 24 July 2025. https://x.com/enactic_ai/status/1948215999427219771
12. Enactic (@enactic_ai). "Fully assembled OpenArm is now available worldwide, starting at $5,000!" X, 30 October 2025. https://x.com/enactic_ai/status/1983800630675435926
13. Enactic (@enactic_ai). "The official #OpenArm model is integrated into NVIDIA #IsaacLab." X, 25 December 2025. https://x.com/enactic_ai/status/2004126742873813413
14. Hugging Face. "Releases: huggingface/lerobot" (v0.4.4, 27 February 2026: "add OpenArm robot & teleoperator", "add bi manual openarm follower and leader", "add OpenArm Mini teleoperator"; v0.6.0; v0.6.1). GitHub. https://github.com/huggingface/lerobot/releases
15. Enactic (@enactic_ai). "How do we make robot policy evaluation reproducible across labs? Announcing OpenArm 02..." X, 3 March 2026. https://x.com/enactic_ai/status/2028934873516544235
16. GitHub. Commit history for website/docs/hardware/openarm-2.0/general.mdx and website/docs/overview/whats-new-in-2.0.mdx in enactic/openarm (commits dated 15-20 May 2026). https://github.com/enactic/openarm/commits/main/website/docs/hardware/openarm-2.0/general.mdx
17. Enactic. "Project Overview" (What's Unique, Specifications at a Glance, ecosystem). docs.openarm.dev. https://docs.openarm.dev/
18. Enactic. "Step 2: Setup SocketCAN Interface" and "OpenArm Setup Guide" (CAN-FD 5 Mbps recommended, CAN 2.0 at 1 Mbps, 24 V supply, Ubuntu 22.04/24.04). docs.openarm.dev. https://docs.openarm.dev/setup/openarm-setup/can-setup/
19. Enactic. "OpenArm 2.0: Gripper." docs.openarm.dev. https://docs.openarm.dev/hardware/openarm-2.0/gripper
20. Enactic. "General Specifications" (OpenArm 1.0 documentation, key-features graphic with 633 mm reach). docs.openarm.dev, version 1.0. https://docs.openarm.dev/1.0/hardware/
21. Enactic. "What's New in 2.0." docs.openarm.dev. https://docs.openarm.dev/overview/whats-new-in-2.0
22. Enactic. "Gripper Specifications" (OpenArm 1.0 documentation: 88 mm jaw gap, 60-degree rotor travel, J8_B interface). docs.openarm.dev, version 1.0. https://docs.openarm.dev/1.0/hardware/specifications/gripper
23. Enactic. "Safety Guide." docs.openarm.dev. https://docs.openarm.dev/overview/safety-guide
24. Enactic. "Leader-Follower Teleoperation" (unilateral vs bilateral). docs.openarm.dev. https://docs.openarm.dev/teleop/
25. Enactic. "Bilateral Force Feedback Control" (thread architecture, gain and friction parameters, 500 Hz requirement). docs.openarm.dev. https://docs.openarm.dev/teleop/leader-follower/bilateral-control/
26. Enactic. "OpenArm Description Package" (v1.0 and v2.0 arm_type values, robot presets). docs.openarm.dev. https://docs.openarm.dev/api-reference/description/
27. Enactic. "ROS2 Control" (openarm_bringup, fake and real hardware launch, hardware bridge status). docs.openarm.dev. https://docs.openarm.dev/api-reference/ros2/control
28. Enactic. "MuJoCo" (MJCF files, torque-controlled actuators). docs.openarm.dev. https://docs.openarm.dev/simulation/mujoco
29. Enactic. "Isaac Lab Simulation" (four RL environments, official Isaac integration). docs.openarm.dev. https://docs.openarm.dev/simulation/ ; and Enactic, "enactic/openarm_isaac_lab" README (Isaac Sim 5.1.0 and Isaac Lab 2.3.0 badges). https://github.com/enactic/openarm_isaac_lab
30. Hugging Face. "OpenArm" page in LeRobot documentation (Linux-only note, payload figures). https://github.com/huggingface/lerobot/blob/main/docs/source/openarm.mdx
31. Enactic. "OpenArm Dataset" (directory layout, Python API, Python 3.10+). docs.openarm.dev. https://docs.openarm.dev/dataset/
32. Enactic. Tutorial section (data-collection-ker, data-collection-vr, data-collection-webxr, training, inference) in enactic/openarm website/docs/tutorial. https://github.com/enactic/openarm/tree/main/website/docs/tutorial
33. Enactic. "OpenArm Cell: General" (design rationale, ~100 kg, ~480 W, reach-in stop, zero-position jig). docs.openarm.dev. https://docs.openarm.dev/hardware/openarm-cell/general
34. Enactic. "Buying OpenArm" (official partners, vendor table, prices, OpenArmX warning, WowRobo Cell and KER descriptions). docs.openarm.dev. Accessed 16 September 2026. https://docs.openarm.dev/purchase
35. Enactic. "OpenArm KER: General" (motorless leader arm, 70 percent link lengths, 1.7 kg, backpack mount). docs.openarm.dev. https://docs.openarm.dev/hardware/openarm-ker/general
36. Enactic. "OpenArm KER: Encoder Module" (common module, daisy-chain, 7+1 DoF). docs.openarm.dev. https://docs.openarm.dev/hardware/openarm-ker/encoder-module
37. Seeed Studio. "Seeed-Projects/reBot-DevArm" README (B601-RS: 6 DoF + 1 gripper, 2.5 kg payload, 754 mm max reach, DC 48 V, CERN-OHL-W-2.0 hardware, Apache-2.0 software). GitHub. Accessed 16 September 2026. https://github.com/Seeed-Projects/reBot-DevArm
38. TheRobotStudio. "Standard Open SO-100 & SO-101 Arms" README (follower bill of materials with six STS3215 7.4 V servos; Apache-2.0 repository license). GitHub. Accessed 16 September 2026. https://github.com/TheRobotStudio/SO-ARM100
39. Trossen Robotics. "ViperX-300 6DOF" specifications (6 DoF, 750 mm reach, 750 g working payload, XM540-W270 and XM430-W350 servos). Interbotix X-Series Arms Documentation. https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications/vx300s.html