OpenArm Releases Open-Source Dual-Arm Robot and Evaluation Platform

Tokyo-based startup Enactic has released OpenArm, an open-source dual-arm robot project based on research into the autonomous stack of its commercial humanoid, Ena. The project aims to enhance the reproducibility of SOTA (state-of-the-art) results by providing an integrated ecosystem ranging from CAD designs to data formats and evaluation services.

Hardware and Control Specifications

OpenArm supports 7 degrees of freedom arms, adopting Damiao motors to provide 1kHz CAN-FD communication and bidirectional force feedback. The rated payload is 4.1kg, with a peak of 6.0kg, while the effective payload considering end-effector weight is approximately 2.6kg. The leader arm (KER) for teleoperation implements 1:1 motion without motors and is ready for use within 30 seconds of being worn.

Software and Learning Ecosystem

The software is built on dora-rs nodes and supports ROS2, MuJoCo, and Isaac Lab simulation environments. Data can be converted to Hugging Face's LeRobot format, ensuring compatibility with existing ecosystems. Enactic has released a cube grasping dataset collected via VR teleoperation (30 episodes, 5,405 frames) and an ACT policy model, enabling training and validation in simulation environments without physical hardware.

Evaluation Service and Licensing

OpenArm Online offers a policy submission and evaluation service based on Docker images. Currently, only simulation tasks are supported, with limited integration for evaluation on actual equipment (Cell). The software is licensed under Apache-2.0, while the hardware CAD is licensed under CERN-OHL-S-2.0, mandating the disclosure of modified designs.