OpenArm
Open-source, human-scale 7-DoF arm from Enactic with backdrivable quasi-direct-drive Damiao motors on CAN-FD. It is usually built as a bimanual pair. LeRobot supports single-arm and bimanual setups natively, on Linux only.
open hardware · Apache-2.0LeRobot native since 0.4.4verified 2026-10-24aka OpenArm 2.0, OpenArms, openarm_follower, bi_openarm_follower
Policies on OpenArm 11 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works | T1 · upstream documented | 2026-10-24 1d ago | |
| Diffusion Policy Imitation | works | T1 · upstream documented | 2026-10-24 1d ago | |
| EO-1 VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| GR00T N1.7 VLA | works with caveats | T1 · upstream documented | 2026-10-25 today | Documented only in Enactic's fork of Isaac-GR00T (branch n1.7-release-ga-openarm, a single commit ahead of NVIDIA main as of 2026-10-23), not in NVIDIA's Isaac-GR00T or in LeRobot. |
| MolmoAct2 VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| π0 VLA | works | T1 · upstream documented | 2026-10-24 1d ago | |
| π0.5 VLA | works | T1 · upstream documented | 2026-10-24 1d ago | |
| SmolVLA VLA | works | T1 · upstream documented | 2026-10-24 1d ago | |
| VLA-JEPA VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| VQ-BeT Imitation | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| X-VLA VLA | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
No verified evidence, but both are available in LeRobot (ecosystem context): Evo-1, Fast-WAM, HIL-SERL, LingBot-VA, Multitask DiT, π0-FAST, TD-MPC, WALL-OSS.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 7 (Per arm, plus a parallel gripper (8 motors per arm in LeRobot's config).)src
- Arms
- 2
- Actuators
- Damiao QDD motors over CAN-FD: DM8009 (J1-J2), DM4340 (J3-J4), DM4310 (J5-J7 + gripper)src
- Payload
- 4100–6000 gsrc
- BOM / build
- docs.openarm.dev/
- Homepage
- openarm.dev
- Supported sensors
- RGB, single camera, RGB, two cameras (wrist + overview), RGB, three or more cameras, Intel RealSense depth
- Teleoperation
- OpenArm leader (openarm_leader / bi_openarm_leader), OpenArm Mini leader
Payload per Enactic: 4.1 kg nominal (held 1 min in worst posture) and 6.0 kg peak (3 s move + 1 s hold) per arm. The LeRobot docs cite $6,500 USD for a complete bimanual system. That figure is not on the maker's own page and is not recorded as a price. OpenArm is sold as a DIY kit or assembled through verified manufacturers.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | nativesrc | 0.4.4 | openarm_follower, bi_openarm_follower | docs |
| LeRobot: Leader: openarm_leader / bi_openarm_leader. An OpenArm Mini leader was also added in 0.4.4. Linux only, because the CAN USB adapter has no macOS driver. Single-arm (PR #2795) and bimanual (PR #2835) types were both first released in 0.4.4. | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot README lists OpenARM among natively supported hardware.
“SO100, LeKiwi, Koch, HopeJR, OMX, EarthRover, Reachy2, Gamepads, Keyboards, Phones, OpenARM, Unitree G1, reBot B601.”
https://github.com/huggingface/lerobot/blob/v0.6.1/README.md - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot OpenArm guide: 7DOF, Linux-only, cites $6,500 bimanual system cost.
“At $6,500 USD for a complete bimanual system, OpenArm delivers research-grade capabilities at a fraction of traditional humanoid robot costs.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/openarm.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
OpenArm follower config: 7 DOF per arm, Damiao DM8009/DM4340/DM4310 motors.
“# Motor configuration for OpenArms (7 DOF per arm)”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/openarm_follower/config_openarm_follower.py - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Registers bi_openarm_follower.
“@RobotConfig.register_subclass("bi_openarm_follower")”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/robots/bi_openarm_follower/config_bi_openarm_follower.py - T1 · upstream documentedrelease-notessource 2026-02-27verified 2026-10-24 (1d ago)lerobot 0.4.4
OpenArm single and bimanual first released in v0.4.4.
“feat(robots): add OpenArm robot & teleoperator by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2795”
https://github.com/huggingface/lerobot/releases/tag/v0.4.4 - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Enactic OpenArm 2.0 spec: 7 DOF per arm, 4.1 kg nominal / 6.0 kg peak payload, CAN-FD.
“DOF 7 per arm Nominal payload 4.1 kg (held for 1 minute in the worst posture) Peak payload 6.0 kg (3 s move + 1 s hold in the worst posture)”
https://docs.openarm.dev/ - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
enactic/openarm repository is Apache-2.0 licensed.
“Apache License Version 2.0, January 2004”
https://github.com/enactic/openarm/blob/main/LICENSE