> 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/openyam.md).

# OpenYAM

### OpenYAM Overview

The OpenYAM is an open source desktop manipulator designed for light industrial tasks. These arms are built with sturdy CNC and sheet metal components for all core mechanical assembly.  The OpenYAM does NOT use 3D printed materials in it's mechanical structure, we do have 3D printed outer shells whose purpose is purely aesthetic. 

Unlike other desktop manipulators, the OpenYAM is designed to be low cost but rugged, while not locking the end using into any particular actuator vendor or manufacturer, making it an ideal platform for research and development giving you maximum flexibility and control over the supply chain.  If you build on the OpenYAM, Anvil's controls SDK becomes a clean abstraction allowing you to quickly test multiple versions of the OpenYAM as we integrate new actuator partners.  We're currently planning on integrating Damiao, Robstride, and MyActuator. 

The OpenYAM is entirely designed in-house by Anvil Robotics, Inc. We are the original manufacturers of the OpenYAM but are happy to collaborate with other manufacturers to help bring more versions to market. We'd love to see more versions of the OpenYAM using actuators from multiple companies.

### Media

{% embed url="<https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FnU3xAFCC67gtvKRPp1wn%2FQuest%20OpenYAM%20Teleop%2016x9.mp4?alt=media&token=bdfea9b8-a927-46e9-aa87-caae65c0c8b5>" %}

<div><figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2F3UpGT6SUbFtU1Idvd5LH%2Fimage.png?alt=media&amp;token=3f6aabcb-f2f5-4448-8e14-8a5f1b159d2f" alt=""><figcaption></figcaption></figure> <figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2F774XNcUuQS3Hqf87CzIb%2Fimage.png?alt=media&amp;token=d4805469-5a12-48fc-afd6-d910ab4db209" alt=""><figcaption></figcaption></figure></div>

### Packing List

The OpenYAM is currently sold separately or as part of a kit.  For detailed packing list, please see the below links. &#x20;

* [Individual OpenYAM](https://shop.anvil.bot/products/openyam)
* [1x OpenYAM - Quest Teleop Kit](https://shop.anvil.bot/products/openyam-quest-teleop-kit)
* [2x OpenYAM - Quest Teleop Kit](https://shop.anvil.bot/products/openyam-quest-teleop-kit?variant=46695058276529)

### Related Guides

* [Setting up the OpenYAM](/user-guides/setting-up-the-anvil-openyam.md)
* [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 OpenYAM with and without a gripper.

| Specification           | Without Gripper | With Gripper    |
| ----------------------- | --------------- | --------------- |
| Degrees of freedom      | 6 DOF           | 6 DOF + Gripper |
| Arm reach               | 610mm           | 680mm           |
| Weight per arm          | 4.6kg           | 5.3kg           |
| Nominal payload per arm | 2.5kg           | 2kg             |
| Motor Control Modes     | MIT / POS       | MIT / POS       |

The below table shows software and hardware support for the OpenYAM and covers both community efforts as well as 1st party solutions from Anvil Robotics.

| Software          | Anvil Robotics                                     | Community |
| ----------------- | -------------------------------------------------- | --------- |
| Control frequency | <p>500Hz over standard CAN<br>1kHz over CAN-FD</p> | None      |
| 6DOF IK / FK      | Anvil only                                         | None      |
| Control SDKs      | ROS2 controls, Python, and C++                     | None      |
| Warranty          | 1 year full warranty\*                             | None      |

Anvil Robotics offers a full 1 year warranty and replacements on any Anvil produced OpenARM products when used with Anvil's software systems. Anvil's software contains safety features that monitor motor health and prevent over temperature, over current, and other potentially fatal user controls. These can be easily disabled in software but could void your warranty.

### Resources

<table><thead><tr><th width="264.71484375">Project</th><th>Link</th></tr></thead><tbody><tr><td>URDF Files</td><td><a href="https://github.com/anvil-robotics/OpenYAM_description">Github</a></td></tr><tr><td>CAD Files</td><td><a href="https://github.com/anvil-robotics/OpenYAM_hardware">Github</a></td></tr><tr><td>GELLO CAD</td><td><a href="https://github.com/anvil-robotics/gello_mechanical/tree/main/yam/yam_active_gello">Github</a></td></tr><tr><td>6 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>Quest &#x26; GELLO Teleoperation</td><td>Access with Anvil Devbox</td></tr></tbody></table>