OpenArm 01: Release No.2

We're excited to announce our second release of OpenArm 01, an update focused on improving the hardware reliability, teleoperation stack, assembly clarity, and vendor transparency. This release addresses multiple community-reported issues and feedback:

🚀 Summary of Fixes and Improvements

Category	Improvement	Problem	Solution	Issue
Controls	Zero-position Calibration	Manual calibration process was prone to human errors.	Implemented automated zero-position calibration to simplify setup and improve accuracy.	#323
Data Collection	Camera Mount	No official CAD for camera mounts. Users had to design their own mount for Realsense cameras.	Added a modular camera mount base with standard mounts designed for Realsense D435 (chest camera) and D405 (wrist camera), enabling consistent and reproducible data collection setups.	#307
Hardware	Leader-side J5 Casing Cover	For 7-DoF arms, controlling the elbow was difficult — the operator could only manipulate the end effector, causing ambiguity from redundant joint angles.	Redesigned the J5 casing and added a rubber band interface, improving coupling between operator and arm for smoother 7-DoF motion control. The elbow can now follow the operator's motion naturally.	#308
Hardware	Enhanced J2 Wiring and Cover	J2 motor cables frequently got caught on the bolt heads of the L-shaped J2–J3 connector, risking damage and restricted motion.	Re-routed J2 wiring directly out through the rear backplate and modified the cover design to eliminate snag points, improving reliability and cable lifespan.	#309
Hardware	PCB Hub Case	PCB hub was previously exposed, leaving connectors vulnerable to stress and disconnection during operation.	Added a dedicated PCB hub enclosure that protects connectors, improves mechanical stability, and simplifies cable organization.	#310
Docs	Wiring & Casing	Assembly instructions for wire harnessing were unclear, causing confusion about cable routing and casing order.	Added step-by-step assembly visuals, diagrams, and improved explanations for wire routing and casing installation.	#312
Docs	Purchase Page	Users faced confusion due to multiple vendors producing OpenArm at varying quality levels, with no clear guidance on where to buy.	Introduced an official Purchase Page listing Official and Certified vendors worldwide to ensure transparency and consistent manufacturing quality.	#313

💬 Feedback

We'd love your feedback!

If you encounter any issues or have suggestions, please open an issue or start a discussion on our Discord server.

Thank you for being part of the OpenArm community.
Your continued testing, feedback, and collaboration make this project better with every release.

OpenArm team

OpenArm v0.3

What's Changed

• Bump openarm_ros2 to support MoveIt2 on physical bimanual hardware by @thomasonzhou in #92
• CANFD Control on STM32 by @1lokeshpatel in #98
• Update ROS2 packages with new URDFs by @thomasonzhou in #102
• ros2_control support for 7-DOF arm + 1-DOF gripper, bimanual 16-DOF total

Other Updates

• Increased payload by adding crossed roller bearings
• Fine-tuned and deployed GR00T N1 on OpenArm hardware: https://github.com/reazon-research/Isaac-GR00T

Full Changelog: 0.2...0.3

OpenArm v0.2

What's Changed

• Update issue templates by @edwin-giang in #69
• Add openarm_ros2 and openarm_mjcf submodules by @thomasonzhou in #84
• Reorganize repository structure by @thomasonzhou in #85

Other Updates

• Redefined URDF operating position and improved model accuracy
• Upgraded mechanical and electrical components to promote stability
• Secured motor supply chain for future procurement

Full Changelog: 0.1...0.2

OpenArm v0.1

This is the first release of OpenArm!