openarm

PathOn Robotics Open Source Repo on building and controlling real robots

A tested control, planning, perception, bimanual, and learning platform for the Enactic OpenArm v2 (7-DOF x2) in MuJoCo: IK / Cartesian / compliant control, RRT-Connect planning, dynamic catching and throwing, articulated / cloth manipulation, language-commanded skills, a learned ACT vision policy, RL insertion, and OpenArm-Bench.

Pick & place manipulation with OpenArm robot trained via PPO in Isaac Lab

Two OpenArm v2 arms carry a tray together and keep a ball on it — grasped and balanced from camera images, with collisions on and nothing welded. MuJoCo.

End-effector pose tools and experiments for OpenArm.

Real-time teleop_xr-to-CAN bridge for a 14-DOF OpenArm robot

Bimanual OpenArm in Isaac Sim: position-based picks, right-to-left handover, multimodal demo recording — toward teleop, pi0.5 policy integration and evaluation (actively developed)

One-file bring-up and control for a bimanual OpenArm (Damiao motors) over PEAK PCAN-USB FD on Linux

ROS 2 Jazzy software for the OpenAMRobot upper body: lift and arm models, MoveIt integration, control, bringup, and simulation.

Physics-based OpenArm 2.0 bimanual parcel orientation, handoff, and roller conveyor simulation in MuJoCo.

LeRobot teleoperator plugin for the OpenArm KER leader arm

OpenArm Vision+Force Control. Mujoco and Cross Emodiment UR5e and FR3

Minimal macOS handoff for two OpenArm Mini leaders controlling bimanual OpenArm V2 in MuJoCo with verified gripper haptics

Isaac Lab extension for the OpenArm manipulator, providing uni-/bimanual tasks for IL/RL.

OpenArm2 reinforcement learning, simulated vision telemetry and VR teleoperation with NVIDIA Isaac Lab

Per-unit angle calibration for the OpenArm KER encoder module — firmware, station procedure and host tool. Wire-compatible with an unmodified M5.

Mock Open Arm V2 pipeline using locally generated camera stream/joint values. Designed to generate various episodes to hold data