OpenArm Driver

A Python library for controlling OpenArm, using OpenArm CAN.

Quick start

TODO

Install

pip install openarm-driver

Sample usage

import openarm_driver

arm = openarm_driver.SingleArmDriver("right_arm")
# You can also use your own config file as well.
# config = openarm_driver.Config("/path/to/config.yaml")
# arm = openarm_driver.SingleArmDriver("right_arm", config)

try:
    arm.start()
    while True:
        cur_position = arm.fetch_position()
        # Some process to calculate the next steps.
        next_positions = inference(cur_position)
        for next_postion in next_positions:
            arm.smooth_move(next_postion, hz=50, duration=1)
            # you can use simple command as well (Please be careful not to move the arm too much).
            # arm.send_position(next_postion)
finally:
    arm.stop()

Config

Please refer to src/openarm_driver/config.yaml, the default configuration.

Development

Test

uv sync
uv run pytest

Release

git clone git@github.com:enactic/openarm_driver.git
cd openarm_driver
dev/release.sh ${VERSION} # e.g. dev/release.sh 1.0.0

Related links

• 📚 Read the documentation
• 💬 Join the community on Discord
• 📬 Contact us through openarm@enactic.ai

License

Licensed under the Apache License 2.0. See LICENSE.txt for details.

Copyright 2026 Enactic, Inc.

Code of Conduct

All participation in the OpenArm project is governed by our Code of Conduct.