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OpenArm은 Enactic, Inc.가 개발한 오픈소스 로봇 플랫폼입니다. OpenArm 공식 사이트는 openarm.dev입니다.

openarm.co.kr은 (주)리버트론이 운영하는 OpenArm 국내 판매·기술 지원 사이트이며, OpenArm 공식 사이트가 아닙니다. 리버트론은 OpenArm을 판매하고 조립, 설치, 기술 지원을 맡습니다.

OpenArm 이름과 로고에 대한 권리는 Enactic, Inc.에 있습니다.

사용한 자료

OpenArm 2.0 3D 모델 (홈 첫 화면·사양 정면도·활용 분야 그림)

사용 위치
홈 첫 화면, 홈 사양 정면도, 홈 활용 분야 자세 그림, 홈 연구 흐름 그림 6장
원본
enactic/openarm_description (OpenArm 2.0 URDF·visual meshes)
저작권자
Copyright 2025-2026 Enactic, Inc.
라이선스
Apache-2.0
변경 내용
(주)리버트론이 2026년에 URDF의 관절 구조와 시각용 메시(DAE)를 웹용 glTF 파일 하나(/twin/v1/openarm-2-twin.glb)로 변환했습니다. 중복 정점을 합치고 좌표를 양자화·압축했으며 형상은 바꾸지 않았습니다. 재질 색은 Enactic의 MuJoCo 모델(openarm_mujoco, Apache-2.0) 지정을 따랐고, 파일 안에 저작권·라이선스·변경 내용을 기록했습니다. 홈 첫 화면의 포스터 이미지(/twin/v1/poster-*.webp), 사양 정면도(/images/twin/openarm-2-front.webp, 모든 관절 0° 자세), 활용 분야 자세 그림(/images/twin/teleop-ep04-f*.webp)은 이 GLB를 리버트론이 렌더한 것입니다. 홈 '이런 연구에 활용할 수 있습니다'의 그림 6장(/images/research/rf*.webp)도 이 GLB를 리버트론이 렌더한 것으로, 머리 블록의 각인은 평평하게 처리했고 05의 두 손 자세는 리버트론이 역기구학으로 계산한 자세입니다.

OpenArm 2.0 조작 기록 (MuJoCo 시뮬레이션, VR 원격조작)

사용 위치
홈 첫 화면, 홈 활용 분야 자세 그림·그래프, 홈 연구 흐름 그림
원본
enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot (Hugging Face)
저작권자
Enactic, Inc.
라이선스
Apache-2.0
변경 내용
관절 각도 기록(observation.state)에서 에피소드 5개(04·11·10·02·24)를 골라 관절 한계 안으로 자르고 16비트로 줄였습니다(/twin/v1/motion.bin, motion.json). 화면의 작업대·검은 틀·큐브 위치는 데이터셋에 기록된 값이 아니라, Enactic MuJoCo 셀 배치(openarm_mujoco)와 관절 기록에서 리버트론이 계산한 표시입니다. 실제 로봇을 촬영한 영상이 아닙니다. 홈 '활용 분야' 그래프(/images/twin/teleop-ep04-*.svg)는 위 motion.bin의 에피소드 04 값을 그린 것입니다(관절은 도, 그리퍼는 열림 %로 바꿔 표시). 그 위의 자세 그림 4장은 같은 에피소드의 0·97·156·233번째 프레임 자세이고, 작업대·틀·큐브는 위와 같이 리버트론이 계산한 표시입니다. 홈 연구 흐름 그림의 로봇 자세(01–04, 06)와 01 카드의 곡선·장면도 같은 에피소드 04의 값입니다. 다만 04와 06에서 쉬고 있는 팔은 기록 값이 아니라 설명을 위해 정한 자세입니다.

3D 모델 (OpenArm 2.0, 헤드 카메라 구성, Cell, KER)

사용 위치
홈 3D 보기(헤드 카메라 구성·Cell), 그리퍼 분해도, 스토어 상품 이미지
원본
enactic/openarm_hardware (OpenArm v2 CAD)
저작권자
Copyright 2025 Enactic, Inc.
라이선스
CERN-OHL-S-2.0
변경 내용
(주)리버트론이 2026년에 STEP 파일을 웹용 GLB로 변환하면서 형상을 단순화하고 재질(색·반사)을 바꿨습니다. KER 모델(/models/openarm-ker.glb)은 부품을 하나의 메시로 합치고 나사·베어링·PCB 스페이서를 뺐습니다. 분해도용으로 그리퍼 부품을 분리해 별도 파일(arm-exploded.bin)로 만들었고, 각 GLB 파일 안에 저작권·라이선스·변경 내용을 기록했습니다.

정지 렌더 이미지 (홈·스토어 3D 칸 포스터, 업그레이드 키트·그리퍼 옵션, 검색용 상품)

사용 위치
홈 Cell 3D 칸의 포스터, 스토어 3D 칸에서 3D를 불러오는 동안과 3D를 표시할 수 없는 브라우저에서 보이는 그림, 홈 연구 흐름 그림 04, 스토어 업그레이드 키트·그리퍼 옵션, 구조화 데이터
원본
enactic/openarm_hardware (OpenArm v2 CAD)
저작권자
Copyright 2025 Enactic, Inc.
라이선스
CERN-OHL-S-2.0
변경 내용
위 3D 모델을 리버트론이 렌더링한 이미지입니다. 홈·스토어 3D 칸 포스터(/images/renders/mv-*.webp)는 각 페이지와 같은 웹 3D 뷰어 설정으로 위 GLB의 첫 장면을 찍은 것입니다. 업그레이드 키트 이미지는 OpenArm 2.0 STEP 파일의 한쪽 팔을 렌더링하고, Enactic 문서(Upgrade from 1.0)에 나온 교체 부품을 파란색으로 칠했습니다. 홈 연구 흐름 그림 04는 Cell CAD(/models/openarm-cell-full.glb)의 바닥 치수와 높이로 알루미늄 프로파일 틀을 다시 만들고, CAD의 리프트 부품과 OpenArm 2.0 3D 모델을 CAD의 장착 위치에 놓아 렌더한 것입니다. 먼 쪽 벽, 조명, 두 카메라, 리프트 기둥과 캐리지 판은 설명을 위해 그려 넣었습니다.

OpenArm 1.1 제품 렌더 이미지 (팔로워·리더 양팔)

사용 위치
스토어 OpenArm 1.1 상품
원본
enactic/openarm_hardware (OpenArm v1 CAD)
저작권자
Copyright 2025 Enactic, Inc.
라이선스
CERN-OHL-S-2.0
변경 내용
Enactic의 OpenArm 1.1 설계를 리버트론이 렌더링한 이미지입니다.

OpenArm KER·Cell 동작 영상

사용 위치
홈 'OpenArm 2.0과 함께 쓰는 장비'
원본
docs.openarm.dev (enactic/openarm)
저작권자
Enactic, Inc.
라이선스
Apache-2.0
변경 내용
docs.openarm.dev의 GIF 두 개(OpenArm KER 문서의 KER 동작, OpenArm Cell 문서의 Reach-In Stop)를 (주)리버트론이 2026년에 MP4 영상(640×360, 25fps, 소리 없음)으로 바꾸고 정지 화면 한 장씩을 뽑았습니다(/media/enactic/). 장면과 길이는 바꾸지 않았습니다.

사양 수치와 기술 설명

사용 위치
홈 사양, 자료실 스펙 표·FAQ
원본
docs.openarm.dev (enactic/openarm)
저작권자
Enactic, Inc.
라이선스
Apache-2.0
변경 내용
리버트론이 요약하고 한국어·영어로 다시 썼습니다. 원문은 Enactic 공식 문서를 확인하세요.

OpenArm 공식 소개 영상

사용 위치
홈 자료실 목록의 링크, OpenArm 1.1 페이지 영상
원본
YouTube — Enactic
저작권자
Enactic, Inc.
라이선스
YouTube 퍼가기 (YouTube 서비스 약관)
변경 내용
변경하지 않았습니다. 홈에서는 YouTube 원본 페이지로 연결하고, OpenArm 1.1 페이지에서는 YouTube 플레이어로 원본을 재생합니다.

카메라 제품 사진 (ZED Mini)

사용 위치
스토어 카메라 옵션
원본
Stereolabs
저작권자
Stereolabs Inc.
라이선스
제조사 제공 제품 이미지
변경 내용
배경을 지웠습니다.

카메라 제품 사진 (Intel RealSense D405·D435if·D455f)

사용 위치
스토어 카메라 옵션
원본
RealSense (realsenseai.com)
저작권자
RealSense, Inc.
라이선스
제조사 제공 제품 이미지
변경 내용
배경을 지웠습니다.

리버트론이 만든 자료

리버트론 로고, OpenArm 1.1 페이지의 활용 분야 예시 그림(생성형 AI로 제작), 홈 연구 흐름 그림의 도해와 사람·작업대·노트북 모형, 사이트 디자인과 문구는 (주)리버트론이 만들었습니다.

변경 고지 (CERN-OHL-S-2.0·Apache-2.0)

이 사이트의 3D 모델과 렌더 이미지는 Enactic, Inc.가 CERN-OHL-S-2.0으로 공개한 OpenArm 하드웨어 설계(openarm_hardware)를 바탕으로 합니다. 단, 홈 첫 화면에서 재생하는 OpenArm 2.0 3D 모델(/twin/v1/openarm-2-twin.glb)과 그 렌더 이미지(첫 화면 포스터, 사양 정면도, 활용 분야 자세 그림), 조작 기록과 그 그래프는 Enactic이 Apache-2.0으로 공개한 자료를 변환한 것으로, 위 'OpenArm 2.0 3D 모델'·'조작 기록' 항목과 아래 Apache-2.0 파일 목록을 따릅니다.

(주)리버트론은 2026년에 이 설계를 웹에서 볼 수 있도록 STEP에서 GLB로 변환하고, 형상 단순화·재질 변경·분해도용 부품 분리를 했습니다. 변경한 파일은 아래 경로에서 내려받을 수 있으며, 원본과 같은 CERN-OHL-S-2.0을 따릅니다. arm-exploded.bin의 저작권·라이선스·변경 고지는 함께 제공하는 arm-exploded.json에 기록했습니다.

원본 설계: github.com/enactic/openarm_hardware (Copyright 2025 Enactic, Inc.)

변경한 파일 (CERN-OHL-S-2.0)

변환한 파일 (Apache-2.0)

저작권·라이선스·변경 고지는 GLB 파일 안(asset.copyright·extras)과 motion.json에 기록했습니다. motion.bin의 고지는 함께 제공하는 motion.json에 있습니다.

리버트론이 판매하는 OpenArm 하드웨어

리버트론이 판매하고 조립하는 OpenArm 하드웨어는 Enactic, Inc.가 CERN-OHL-S-2.0으로 공개한 설계(Copyright 2025 Enactic, Inc.)를 따릅니다. 설계 원본(CAD·BOM)은 아래 저장소에서 받을 수 있습니다. github.com/enactic/openarm_hardware

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   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.
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.

권리 관련 문의: openarm@libertron.com