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Version: 2.0

OpenArm Software Guide

Welcome to the OpenArm software ecosystem! We're building a toolkit for bridging the bimanual robot (and we'd love your help making it even better).

What to Expect (and Growing!)​

The OpenArm software ecosystem is continuously evolving, offering tools that bridge hardware and intelligent control:

  • Robot Description: Modularized XACRO files for generating URDF robot models for controls and simulation
  • Low-Level Control APIs: High-frequency control package allows direct interaction with motors
  • CAN CLI: Command-line tool for configuring and monitoring DaMiao motors over CAN/CAN-FD interfaces
  • ROS2 Integration: Standard robotics middleware compatibility
  • Dora Nodes: Independent Python processes communicating over Dora topics for robot control, data collection, and inference

Many of these components are actively being developed and improved. We welcome contributions, feedback, and collaboration!

Getting Started​

New to OpenArm? Start with our Setup Guide to configure your development environment.

Want to contribute? Each section below has opportunities for improvement and extension.

Available Components​

Robot Description​

Learn more under Robot Description →

URDF and XACRO files that provide representations of OpenArm. These models enable simulation, motion planning, and visualization. The package supports both single-arm and bimanual configurations.

CAN​

Learn more under SocketCAN Communication →

A C++ library for communicating with OpenArm motors through Linux's SocketCAN interface. Enables real-time control loops and motor coordination. Offers Python bindings for seamless integration with other frameworks.

ROS2 Integration​

Learn more under ROS2 →

Middleware for connecting OpenArm with the broader ROS2 ecosystem. Enables compatibility with existing robotics tools and frameworks.

  • Current features: ROS2 control and hardware interfaces and moveit configurations for basic motion planning
  • In development: Efficient hardware bridging node for direct control
  • Help wanted: Support for additional ROS2 distributions, testing and validation

Dora Nodes​

Learn more under Dora →

Independent Python processes that communicate by passing Arrow arrays over Dora topics. A dataflow YAML wires them together. Covers robot control, data collection, bridging, inference/policy, and mock nodes for development without physical hardware.

Join the Community​

  • Connect with us on Discord
  • Report bugs or request features via GitHub issues in each repository
  • Contribute by submitting pull requests
  • Reach out at openarm@enactic.ai

The OpenArm ecosystem grows stronger with every contribution. Ready to help build the future of accessible robotics?

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