diff --git a/README.md b/README.md index f01455d1..b60cb475 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,10 @@ # OpenArm -**OpenArm** is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. With high backdrivability and compliance, it excels at safe human-robot interaction while delivering practical payload capabilities for real-world applications. +**OpenArm** is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. With high backdrivability and compliance, it is built with safe human-robot interaction in mind while delivering practical payload capabilities for real-world applications. -leader-follower1 +OpenArm in cell environment + +**OpenArm Cell** (on the right) is a standardized environment with unified background, lighting, and camera placement. Research performed using OpenArm can be reproduced around the world in consistent evaluation conditions, facilitating the global discussion on state of the art physical AI research. OpenArm features **human-scale** proportions, safety and compliance, and practical payloads. At $6,500 USD for a complete bimanual system, it provides a flexible platform for teleoperation, imitation learning, simulation, and real-world data collection in contact-rich tasks. @@ -14,16 +16,6 @@ OpenArm features **human-scale** proportions, safety and compliance, and practic > > [**Buy Now →**](https://docs.openarm.dev/purchase) -## ⭐ Star History - - - - - - Star History Chart - - - ## 🔗 Quick Links | Platform | Description | Link | @@ -37,13 +29,15 @@ OpenArm features **human-scale** proportions, safety and compliance, and practic | Repository | Documentation | License | Description | |------------|---------------|---------|-------------| -| **[openarm](https://github.com/enactic/openarm)** | [General Docs](https://docs.openarm.dev) | [Apache-2.0](LICENSE) | Main project repository with ideas, issues, and feature requests | | **[openarm_hardware](https://github.com/enactic/openarm_hardware)** | [Hardware Docs](https://docs.openarm.dev/hardware) | [CERN-OHL-S-2.0](https://github.com/enactic/openarm_hardware/blob/main/LICENSE.txt) | Complete CAD data: STL files, STEP files, Fusion 360 assemblies | -| **[openarm_description](https://github.com/enactic/openarm_description)** | [Description Docs](https://docs.openarm.dev/software/description) | [Apache-2.0](https://github.com/enactic/openarm_description/blob/main/LICENSE.txt) | Robot description files with URDF/xacro for simulation | -| **[openarm_can](https://github.com/enactic/openarm_can)** | [CAN Docs](https://docs.openarm.dev/software/can/) | [Apache-2.0](https://github.com/enactic/openarm_can/blob/main/LICENSE.txt) | CAN control library for low-level motor communication | -| **[openarm_ros2](https://github.com/enactic/openarm_ros2)** | [ROS2 Docs](https://docs.openarm.dev/software/ros2/install) | [Apache-2.0](https://github.com/enactic/openarm_ros2/blob/main/LICENSE) | ROS2 integration packages and nodes | +| **[openarm_description](https://github.com/enactic/openarm_description)** | [Description Docs](https://docs.openarm.dev/api-reference/description/) | [Apache-2.0](https://github.com/enactic/openarm_description/blob/main/LICENSE.txt) | Robot description files with URDF/xacro for simulation | +| **[openarm_can](https://github.com/enactic/openarm_can)** | [CAN Docs](https://docs.openarm.dev/api-reference/can/) | [Apache-2.0](https://github.com/enactic/openarm_can/blob/main/LICENSE.txt) | CAN control library for low-level motor communication | +| **[openarm_ros2](https://github.com/enactic/openarm_ros2)** | [ROS2 Docs](https://docs.openarm.dev/api-reference/ros2/install) | [Apache-2.0](https://github.com/enactic/openarm_ros2/blob/main/LICENSE) | ROS2 integration packages and nodes | | **[openarm_teleop](https://github.com/enactic/openarm_teleop)** | [Teleop Docs](https://docs.openarm.dev/teleop/) | [Apache-2.0](https://github.com/enactic/openarm_teleop/blob/main/LICENSE.txt) | Teleoperation packages with unilateral and bilateral control | -| **[openarm_isaac_lab](https://github.com/enactic/openarm_isaac_lab)** | [Isaac Docs](https://docs.openarm.dev/simulation/isaac-lab) | [Apache-2.0](https://github.com/enactic/openarm_isaac_lab/blob/main/LICENSE.txt) | Isaac Lab simulation environment and training tasks | +| **[openarm_isaac_lab](https://github.com/enactic/openarm_isaac_lab)** | [Isaac Docs](https://docs.openarm.dev/simulation/) | [Apache-2.0](https://github.com/enactic/openarm_isaac_lab/blob/main/LICENSE.txt) | Isaac Lab simulation environment and training tasks | +| **[openarm_mujoco](https://github.com/enactic/openarm_mujoco)** | [MuJoCo Docs](https://docs.openarm.dev/simulation/mujoco) | [Apache-2.0](https://github.com/enactic/openarm_mujoco/blob/master/LICENSE) | MuJoCo specification files and assets for OpenArm | +| **[openarm_dataset](https://github.com/enactic/openarm_dataset)** | [Dataset Docs](https://docs.openarm.dev/dataset/) | [Apache-2.0](https://github.com/enactic/openarm_dataset/blob/main/LICENSE.txt) | Dataset format, recording tools, and Python API | +| **[dora-openarm](https://github.com/enactic/dora-openarm)** | [Dora Docs](https://docs.openarm.dev/api-reference/dora/) | [Apache-2.0](https://github.com/enactic/dora-openarm/blob/main/LICENSE) | Dora dataflow nodes for data collection, inference, and teleop | ## 📄 Code of Conduct diff --git a/website/static/img/hardware/openarm_and_cell.png b/website/static/img/hardware/openarm_and_cell.png new file mode 100644 index 00000000..d345ac1e Binary files /dev/null and b/website/static/img/hardware/openarm_and_cell.png differ