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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)

Converted files (Apache-2.0)

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

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
two reciprocal licences: CERN-OHL-W (weakly reciprocal) and this
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