> For the complete documentation index, see [llms.txt](https://docs-origin.anvil.bot/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-origin.anvil.bot/products/openarm.md).

# OpenARM

### Overview

The OpenARM is an open source bimanual manipulator designed for research and development. The arms are built with simple CNC parts and sheet metal which are relatively sturdy and accessible forms of manufacturing. Unlike the OpenYAM and other desktop manipulators, the humanoid form factor creates operator affinity, letting teleoperators control the robot with little to no learning curve. The low cost and easily accessible manufacturing methods are meant to make the OpenARM robot accessible. It should be easy to make, modify, and repair, making it an ideal platform for research and development.

The OpenARM also has 7 DoF per arm, meaning more flexible motion without major kinematic constraints. The first version of the OpenARM was designed and open sourced by the Reazon Human Interaction Lab in Tokyo. You can learn more about the origins of the project and their lab on [the hilab website](https://hilab.jp/).

​[OpenARM 2.0](/introduction/openarm-2.0.md) is now shipping with improved kinematics and range of motion.

### Media

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*Disassemble complex Legos*
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*Fasten 4 zip ties in 1 min*
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*Easily align and insert cable*
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*Pack raw eggs*
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<div><figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FV41P0tj9cYI6qeOLkRfh%2FScreenshot%202026-07-07%20at%209.39.32%20AM.png?alt=media&amp;token=f08d8a89-7c30-4f71-b542-79c89af8eaf7" alt="" width="563"><figcaption></figcaption></figure> <figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FWlte97mwp6moFYu30ZLL%2FScreenshot%202026-07-07%20at%209.51.14%20AM.png?alt=media&amp;token=d1bdd2b0-9d58-4c1c-812f-91859b625119" alt="" width="563"><figcaption></figcaption></figure> <figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FoQk66S3ogAgjUeCondGC%2FScreenshot%202026-07-07%20at%209.42.54%20AM.png?alt=media&amp;token=15e91cab-c887-4ab0-84da-7a2641e97597" alt="" width="563"><figcaption></figcaption></figure></div>

### Packing List

Detailed packing lists depend on the specific product or developer kit from our store. Please see the links below for detailed itemized lists:

* [OpenARM Leader-Follower Kit](https://shop.anvil.bot/products/open-arm-leader-follower-kit)
* [OpenARM Quest Teleop Kit](https://shop.anvil.bot/products/openarm-quest-teleop-kit)
* [Individual OpenARM Robot](https://shop.anvil.bot/products/openarm-v1-0)

### Related Guides

* [Controlling a Robot](/user-guides/controlling-the-robots.md)
* [Collecting data](/user-guides/collecting-data.md)
* [Training a model](/user-guides/training-a-model.md)

### Technical Specs

The below table describes the OpenARM 2.0 with and without the gripper. Payload and weights describe each individual arm.

| Specification           | Without Gripper | With Gripper    |
| ----------------------- | --------------- | --------------- |
| Degrees of Freedom      | 7 DoF           | 7 DoF + Gripper |
| Motor Control Modes     | MIT / POSVEL    | MIT / POSVEL    |
| Arm Reach               | 480mm           | 650mm           |
| Nominal Payload per Arm | 4.1kg           | 3.5kg           |
| Peak Payload per Arm    | 6kg             | 5.4kg           |

### Weights

| Component                                                   | Weight   |
| ----------------------------------------------------------- | -------- |
| Full OpenARM bimanual unit                                  | 13.65kg  |
| Anvil gripper                                               | 0.658kg  |
| Anvil gripper with camera mount                             | 0.7165kg |
| Full OpenARM bimanual unit with grippers and camera modules | 15.1kg   |
| "Leader" handle                                             | 0.5552kg |
| Full OpenARM bimanual unit with "Leader" handles            | 15.9kg   |
| Lifting platform                                            | 14.75kg  |

### Wheeled Lift Base

|                   |        |
| ----------------- | ------ |
| Weight            | 21.7kg |
| Supported payload | 40kg   |

The below table shows software and hardware support for the OpenARM 2.0 and covers both community efforts, as well as first party solutions from Anvil Robotics.

| Software          | Anvil Robotics                                                                                        | Community     |
| ----------------- | ----------------------------------------------------------------------------------------------------- | ------------- |
| Control Frequency | <p>500Hz over standard CAN<br><a data-footnote-ref href="#user-content-fn-1">1kHz over CAN-FD</a></p> | Unknown       |
| 7 DoF IK / FK     | Anvil only                                                                                            | Unknown       |
| Control SDKs      | ROS2 controls, Python, and C++                                                                        | ROS2 controls |

### Resources

<table><thead><tr><th width="261.73046875">Project</th><th>Link</th></tr></thead><tbody><tr><td>URDF Files</td><td><a href="https://github.com/anvil-robotics/openarm_description">Github</a></td></tr><tr><td>CAD Files</td><td><a href="https://github.com/anvil-robotics/openarm_hardware">Github</a></td></tr><tr><td>Community Controller</td><td><a href="https://github.com/anvil-robotics/openarm">Github</a></td></tr><tr><td>7 DoF IK / FK</td><td>Access with Anvil Devbox</td></tr><tr><td>Control SDK</td><td>Access with Anvil Devbox</td></tr><tr><td>Teleoperation</td><td>Access with Anvil Devbox</td></tr></tbody></table>

[^1]: Coming soon!