Licenses & credits
About this site
OpenArm is an open-source robot platform developed by Enactic, Inc. The official OpenArm site is openarm.dev.
openarm.co.kr is operated by Libertron Co., Ltd., a reseller and integrator of OpenArm in Korea. It is not the official OpenArm site. Libertron sells OpenArm and provides assembly, installation, and technical support.
Rights to the OpenArm name and logo belong to Enactic, Inc.
Materials we use
OpenArm 2.0 3D model (home hero, spec front view, applications figure)
- Used in
- Home hero, home spec front view, pose images in the home applications figure, the six home research-flow figures
- Source
- enactic/openarm_description (OpenArm 2.0 URDF·visual meshes)
- Copyright
- Copyright 2025-2026 Enactic, Inc.
- License
- Apache-2.0
- Changes
- In 2026, Libertron Co., Ltd. converted the URDF joint structure and visual meshes (DAE) into a single glTF file for the web (/twin/v1/openarm-2-twin.glb). It merged duplicate vertices and quantized and compressed the coordinates without changing the geometry. Material colors follow Enactic's MuJoCo model (openarm_mujoco, Apache-2.0), and the copyright, license and changes are recorded inside the file. The poster images in the home hero (/twin/v1/poster-*.webp), the spec front view (/images/twin/openarm-2-front.webp, every joint at 0°), and the pose images in the applications figure (/images/twin/teleop-ep04-f*.webp) are Libertron renders of this GLB. The six home research-flow figures (/images/research/rf*.webp) are also Libertron renders of this GLB; the engraving on the head block was flattened, and the two-handed pose in figure 05 was computed by Libertron with inverse kinematics.
OpenArm 2.0 teleoperation data (MuJoCo simulation, VR teleoperation)
- Used in
- Home hero, pose images and chart in the home applications figure, home research-flow figures
- Source
- enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot (Hugging Face)
- Copyright
- Enactic, Inc.
- License
- Apache-2.0
- Changes
- Five episodes (04, 11, 10, 02, 24) of the joint-angle data (observation.state) were selected, clipped to the joint limits, and reduced to 16 bits (/twin/v1/motion.bin, motion.json). The workbench, black frame and cube positions on screen are not values recorded in the dataset; Libertron computed them from Enactic's MuJoCo cell layout (openarm_mujoco) and the joint data. It is not footage of a physical robot. The home applications chart (/images/twin/teleop-ep04-*.svg) plots the episode 04 values from motion.bin (joints in degrees, gripper as percent open). The four pose images above it show frames 0, 97, 156 and 233 of the same episode, with the workbench, frame and cube computed by Libertron as described above. The robot poses in the research-flow figures (01–04, 06) and the curves and scene in the figure 01 card also use the episode 04 values. The idle arm in figures 04 and 06 is not recorded data; its rest pose was set for illustration.
3D models (OpenArm 2.0, head-camera configuration, Cell, KER)
- Used in
- Home 3D views (head-camera configuration, Cell), gripper exploded view; store product media
- Source
- enactic/openarm_hardware (OpenArm v2 CAD)
- Copyright
- Copyright 2025 Enactic, Inc.
- License
- CERN-OHL-S-2.0
- Changes
- In 2026, Libertron Co., Ltd. converted the STEP files to GLB for the web, simplifying the geometry and changing materials (color and reflectance). The KER model (/models/openarm-ker.glb) merges the parts into a single mesh and leaves out the screws, bearings and PCB spacers. It separated the gripper parts into a dedicated file (arm-exploded.bin) for the exploded view, and recorded the copyright, license and changes inside each GLB file.
Still renders (home and store 3D view posters, upgrade kit and gripper option, product images for search)
- Used in
- Poster of the home Cell 3D view, still images shown in the store 3D views while the 3D loads and when the browser cannot display 3D, home research-flow figure 04, store upgrade kit and gripper option, structured data
- Source
- enactic/openarm_hardware (OpenArm v2 CAD)
- Copyright
- Copyright 2025 Enactic, Inc.
- License
- CERN-OHL-S-2.0
- Changes
- Images rendered by Libertron from the 3D models above. The home and store 3D view posters (/images/renders/mv-*.webp) capture the opening view of the GLBs above with the same web 3D viewer settings as each page. The upgrade kit image renders one arm from the OpenArm 2.0 STEP file, with the replacement parts listed in Enactic's docs (Upgrade from 1.0) colored blue. Home research-flow figure 04 rebuilds the aluminium-extrusion frame from the floor dimensions and height of the Cell CAD (/models/openarm-cell-full.glb) and renders it with the CAD lift parts and the OpenArm 2.0 3D model at the CAD mounting position. The far wall, the lights, both cameras, the lift column and the carriage plate were added for illustration.
OpenArm 1.1 product renders (follower and leader dual arms)
- Used in
- Store OpenArm 1.1 products
- Source
- enactic/openarm_hardware (OpenArm v1 CAD)
- Copyright
- Copyright 2025 Enactic, Inc.
- License
- CERN-OHL-S-2.0
- Changes
- Images rendered by Libertron from Enactic's OpenArm 1.1 design.
OpenArm KER and Cell videos
- Used in
- Home "Equipment that works with OpenArm 2.0"
- Source
- docs.openarm.dev (enactic/openarm)
- Copyright
- Enactic, Inc.
- License
- Apache-2.0
- Changes
- In 2026, Libertron Co., Ltd. converted two GIFs from docs.openarm.dev (the KER motion clip in the OpenArm KER docs and the Reach-In Stop clip in the OpenArm Cell docs) into MP4 video (640×360, 25 fps, no audio) and extracted one still frame from each (/media/enactic/). The scenes and length were not changed.
Specifications and technical descriptions
- Used in
- Home specs, resources spec table and FAQ
- Source
- docs.openarm.dev (enactic/openarm)
- Copyright
- Enactic, Inc.
- License
- Apache-2.0
- Changes
- Summarized and rewritten by Libertron in Korean and English. See Enactic's official docs for the original.
OpenArm official reveal video
- Used in
- Link in the home resources list; video on the OpenArm 1.1 page
- Source
- YouTube — Enactic
- Copyright
- Enactic, Inc.
- License
- YouTube embed (YouTube Terms of Service)
- Changes
- Not modified. The home page links to the original YouTube page, and the OpenArm 1.1 page plays the original through the YouTube player.
Camera product photo (ZED Mini)
- Used in
- Store camera options
- Source
- Stereolabs
- Copyright
- Stereolabs Inc.
- License
- Manufacturer-supplied product image
- Changes
- Removed the background.
Camera product photos (Intel RealSense D405, D435if, D455f)
- Used in
- Store camera options
- Source
- RealSense (realsenseai.com)
- Copyright
- RealSense, Inc.
- License
- Manufacturer-supplied product images
- Changes
- Removed the background.
Made by Libertron
The Libertron logo, the application illustrations on the OpenArm 1.1 page (made with generative AI), the diagrams and the person, workbench and laptop models in the home research-flow figures, and the site design and copy were made by Libertron Co., Ltd.
Modification notices (CERN-OHL-S-2.0, Apache-2.0)
The 3D models and rendered images on this site are based on the OpenArm hardware design (openarm_hardware) that Enactic, Inc. published under CERN-OHL-S-2.0. The OpenArm 2.0 3D model played at the top of the home page (/twin/v1/openarm-2-twin.glb), its renders (the hero posters, the spec front view, and the pose images in the applications figure), and the teleoperation data and its chart are an exception: they are converted from material Enactic published under Apache-2.0 and follow the 'OpenArm 2.0 3D model' and 'teleoperation data' entries above and the Apache-2.0 file list below.
In 2026, Libertron Co., Ltd. converted the design from STEP to GLB for viewing on the web, simplified the geometry, changed materials, and separated parts for the exploded view. The modified files can be downloaded at the locations below and are licensed under CERN-OHL-S-2.0 like the original. The copyright, license, and change notices for arm-exploded.bin are recorded in the accompanying arm-exploded.json.
Original design: github.com/enactic/openarm_hardware (Copyright 2025 Enactic, Inc.)
Modified files (CERN-OHL-S-2.0)
- https://openarm.co.kr/models/openarm-2.glb
- https://openarm.co.kr/models/openarm-2-headcam.glb
- https://openarm.co.kr/models/openarm-cell.glb
- https://openarm.co.kr/models/openarm-cell-full.glb
- https://openarm.co.kr/models/openarm-ker.glb
- https://openarm.co.kr/models/arm-exploded.bin
- https://openarm.co.kr/models/arm-exploded.json
Converted files (Apache-2.0)
- https://openarm.co.kr/twin/v1/openarm-2-twin.glb
- https://openarm.co.kr/twin/v1/motion.bin
- https://openarm.co.kr/twin/v1/motion.json
The copyright, license, and change notices are recorded inside the GLB file (asset.copyright and extras) and in motion.json. The notice for motion.bin is in the accompanying motion.json.
OpenArm hardware sold by Libertron
The OpenArm hardware Libertron sells and assembles follows the design Enactic, Inc. published under CERN-OHL-S-2.0 (Copyright 2025 Enactic, Inc.). The design source (CAD and BOM) is available from the repository below. github.com/enactic/openarm_hardware
Site software
- Next.js, React — MIT
- three.js — MIT
- meshoptimizer decoder (via three.js examples) — MIT
- <model-viewer> (Google) — Apache-2.0
- GSAP — GreenSock Standard License
- Lucide icons — ISC
- Inter, JetBrains Mono — SIL OFL 1.1
License texts
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CERN Open Hardware Licence v2 — Strongly Reciprocal (CERN-OHL-S-2.0)
CERN Open Hardware Licence Version 2 - Strongly Reciprocal
Preamble
CERN has developed this licence to promote collaboration among
hardware designers and to provide a legal tool which supports the
freedom to use, study, modify, share and distribute hardware designs
and products based on those designs. Version 2 of the CERN Open
Hardware Licence comes in three variants: CERN-OHL-P (permissive); and
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licence, CERN-OHL-S (strongly reciprocal).
The CERN-OHL-S is copyright CERN 2020. Anyone is welcome to use it, in
unmodified form only.
Use of this Licence does not imply any endorsement by CERN of any
Licensor or their designs nor does it imply any involvement by CERN in
their development.
1 Definitions
1.1 'Licence' means this CERN-OHL-S.
1.2 'Compatible Licence' means
a) any earlier version of the CERN Open Hardware licence, or
b) any version of the CERN-OHL-S, or
c) any licence which permits You to treat the Source to which
it applies as licensed under CERN-OHL-S provided that on
Conveyance of any such Source, or any associated Product You
treat the Source in question as being licensed under
CERN-OHL-S.
1.3 'Source' means information such as design materials or digital
code which can be applied to Make or test a Product or to
prepare a Product for use, Conveyance or sale, regardless of its
medium or how it is expressed. It may include Notices.
1.4 'Covered Source' means Source that is explicitly made available
under this Licence.
1.5 'Product' means any device, component, work or physical object,
whether in finished or intermediate form, arising from the use,
application or processing of Covered Source.
1.6 'Make' means to create or configure something, whether by
manufacture, assembly, compiling, loading or applying Covered
Source or another Product or otherwise.
1.7 'Available Component' means any part, sub-assembly, library or
code which:
a) is licensed to You as Complete Source under a Compatible
Licence; or
b) is available, at the time a Product or the Source containing
it is first Conveyed, to You and any other prospective
licensees
i) as a physical part with sufficient rights and
information (including any configuration and
programming files and information about its
characteristics and interfaces) to enable it either to
be Made itself, or to be sourced and used to Make the
Product; or
ii) as part of the normal distribution of a tool used to
design or Make the Product.
1.8 'Complete Source' means the set of all Source necessary to Make
a Product, in the preferred form for making modifications,
including necessary installation and interfacing information
both for the Product, and for any included Available Components.
If the format is proprietary, it must also be made available in
a format (if the proprietary tool can create it) which is
viewable with a tool available to potential licensees and
licensed under a licence approved by the Free Software
Foundation or the Open Source Initiative. Complete Source need
not include the Source of any Available Component, provided that
You include in the Complete Source sufficient information to
enable a recipient to Make or source and use the Available
Component to Make the Product.
1.9 'Source Location' means a location where a Licensor has placed
Covered Source, and which that Licensor reasonably believes will
remain easily accessible for at least three years for anyone to
obtain a digital copy.
1.10 'Notice' means copyright, acknowledgement and trademark notices,
Source Location references, modification notices (subsection
3.3(b)) and all notices that refer to this Licence and to the
disclaimer of warranties that are included in the Covered
Source.
1.11 'Licensee' or 'You' means any person exercising rights under
this Licence.
1.12 'Licensor' means a natural or legal person who creates or
modifies Covered Source. A person may be a Licensee and a
Licensor at the same time.
1.13 'Convey' means to communicate to the public or distribute.
2 Applicability
2.1 This Licence governs the use, copying, modification, Conveying
of Covered Source and Products, and the Making of Products. By
exercising any right granted under this Licence, You irrevocably
accept these terms and conditions.
2.2 This Licence is granted by the Licensor directly to You, and
shall apply worldwide and without limitation in time.
2.3 You shall not attempt to restrict by contract or otherwise the
rights granted under this Licence to other Licensees.
2.4 This Licence is not intended to restrict fair use, fair dealing,
or any other similar right.
3 Copying, Modifying and Conveying Covered Source
3.1 You may copy and Convey verbatim copies of Covered Source, in
any medium, provided You retain all Notices.
3.2 You may modify Covered Source, other than Notices, provided that
You irrevocably undertake to make that modified Covered Source
available from a Source Location should You Convey a Product in
circumstances where the recipient does not otherwise receive a
copy of the modified Covered Source. In each case subsection 3.3
shall apply.
You may only delete Notices if they are no longer applicable to
the corresponding Covered Source as modified by You and You may
add additional Notices applicable to Your modifications.
Including Covered Source in a larger work is modifying the
Covered Source, and the larger work becomes modified Covered
Source.
3.3 You may Convey modified Covered Source (with the effect that You
shall also become a Licensor) provided that You:
a) retain Notices as required in subsection 3.2;
b) add a Notice to the modified Covered Source stating that You
have modified it, with the date and brief description of how
You have modified it;
c) add a Source Location Notice for the modified Covered Source
if You Convey in circumstances where the recipient does not
otherwise receive a copy of the modified Covered Source; and
d) license the modified Covered Source under the terms and
conditions of this Licence (or, as set out in subsection
8.3, a later version, if permitted by the licence of the
original Covered Source). Such modified Covered Source must
be licensed as a whole, but excluding Available Components
contained in it, which remain licensed under their own
applicable licences.
4 Making and Conveying Products
You may Make Products, and/or Convey them, provided that You either
provide each recipient with a copy of the Complete Source or ensure
that each recipient is notified of the Source Location of the Complete
Source. That Complete Source is Covered Source, and You must
accordingly satisfy Your obligations set out in subsection 3.3. If
specified in a Notice, the Product must visibly and securely display
the Source Location on it or its packaging or documentation in the
manner specified in that Notice.
5 Research and Development
You may Convey Covered Source, modified Covered Source or Products to
a legal entity carrying out development, testing or quality assurance
work on Your behalf provided that the work is performed on terms which
prevent the entity from both using the Source or Products for its own
internal purposes and Conveying the Source or Products or any
modifications to them to any person other than You. Any modifications
made by the entity shall be deemed to be made by You pursuant to
subsection 3.2.
6 DISCLAIMER AND LIABILITY
6.1 DISCLAIMER OF WARRANTY -- The Covered Source and any Products
are provided 'as is' and any express or implied warranties,
including, but not limited to, implied warranties of
merchantability, of satisfactory quality, non-infringement of
third party rights, and fitness for a particular purpose or use
are disclaimed in respect of any Source or Product to the
maximum extent permitted by law. The Licensor makes no
representation that any Source or Product does not or will not
infringe any patent, copyright, trade secret or other
proprietary right. The entire risk as to the use, quality, and
performance of any Source or Product shall be with You and not
the Licensor. This disclaimer of warranty is an essential part
of this Licence and a condition for the grant of any rights
granted under this Licence.
6.2 EXCLUSION AND LIMITATION OF LIABILITY -- The Licensor shall, to
the maximum extent permitted by law, have no liability for
direct, indirect, special, incidental, consequential, exemplary,
punitive or other damages of any character including, without
limitation, procurement of substitute goods or services, loss of
use, data or profits, or business interruption, however caused
and on any theory of contract, warranty, tort (including
negligence), product liability or otherwise, arising in any way
in relation to the Covered Source, modified Covered Source
and/or the Making or Conveyance of a Product, even if advised of
the possibility of such damages, and You shall hold the
Licensor(s) free and harmless from any liability, costs,
damages, fees and expenses, including claims by third parties,
in relation to such use.
7 Patents
7.1 Subject to the terms and conditions of this Licence, each
Licensor hereby grants to You a perpetual, worldwide,
non-exclusive, no-charge, royalty-free, irrevocable (except as
stated in subsections 7.2 and 8.4) patent licence to Make, have
Made, use, offer to sell, sell, import, and otherwise transfer
the Covered Source and Products, where such licence applies only
to those patent claims licensable by such Licensor that are
necessarily infringed by exercising rights under the Covered
Source as Conveyed by that Licensor.
7.2 If You institute patent litigation against any entity (including
a cross-claim or counterclaim in a lawsuit) alleging that the
Covered Source or a Product constitutes direct or contributory
patent infringement, or You seek any declaration that a patent
licensed to You under this Licence is invalid or unenforceable
then any rights granted to You under this Licence shall
terminate as of the date such process is initiated.
8 General
8.1 If any provisions of this Licence are or subsequently become
invalid or unenforceable for any reason, the remaining
provisions shall remain effective.
8.2 You shall not use any of the name (including acronyms and
abbreviations), image, or logo by which the Licensor or CERN is
known, except where needed to comply with section 3, or where
the use is otherwise allowed by law. Any such permitted use
shall be factual and shall not be made so as to suggest any kind
of endorsement or implication of involvement by the Licensor or
its personnel.
8.3 CERN may publish updated versions and variants of this Licence
which it considers to be in the spirit of this version, but may
differ in detail to address new problems or concerns. New
versions will be published with a unique version number and a
variant identifier specifying the variant. If the Licensor has
specified that a given variant applies to the Covered Source
without specifying a version, You may treat that Covered Source
as being released under any version of the CERN-OHL with that
variant. If no variant is specified, the Covered Source shall be
treated as being released under CERN-OHL-S. The Licensor may
also specify that the Covered Source is subject to a specific
version of the CERN-OHL or any later version in which case You
may apply this or any later version of CERN-OHL with the same
variant identifier published by CERN.
8.4 This Licence shall terminate with immediate effect if You fail
to comply with any of its terms and conditions.
8.5 However, if You cease all breaches of this Licence, then Your
Licence from any Licensor is reinstated unless such Licensor has
terminated this Licence by giving You, while You remain in
breach, a notice specifying the breach and requiring You to cure
it within 30 days, and You have failed to come into compliance
in all material respects by the end of the 30 day period. Should
You repeat the breach after receipt of a cure notice and
subsequent reinstatement, this Licence will terminate
immediately and permanently. Section 6 shall continue to apply
after any termination.
8.6 This Licence shall not be enforceable except by a Licensor
acting as such, and third party beneficiary rights are
specifically excluded.
Rights inquiries: openarm@libertron.com