This repository outlines all the necessary materials and software required in order to build, setup, and deploy OpenArm. These are outlined in the Hardware and Software sections. In addition this, this repository also provides examples to assist with robot simulation setup in Genesis and Gazebo environments. Finally, there is support for tele-operation with bilateral feedback implementation. Directions to the setup for these features are detailed in the Simulation and Teleoperation sections.
For more background about project details and features, please visit our website, social media, and other resources:
The CAD for the OpenArm v1 project can be accessed on OnShape through the following link:
Machined, sheet metal, and off-the-shelf components can be purchased through MISUMi and Misumi and its manufacturing service Meviy, but similar services worldwide can also be used to procure the necessary parts. The Purchasing List/Bill of Materials can be found on the OnShape, as well as the Assembly Guide.
OpenArm’s software stack includes real-time motor control examples, enabling users to quickly set up and start moving the arm. It also provides motor calibration tools, a SocketCAN driver, and a step-by-step tutorials on setting up the CAN interface.
To set up OpenArm in simulation environments, example documentation for MuJuCo, MoveIt2 (ROS2), and Genesis are provided.
To configure one set of OpenArms to act in teleoperation, the setup is provided in the Unilateral and Bilateral links.
- COMING SOON!
For more information about specifics regarding the OpenArm project, please have a look at the resources below. If you would like to get in contact with the OpenArm team with more specific questions about the project, please reach out via email and a member of the team will try to get in touch!