OpenArm KER

A teleoperation system for OpenArm robots using KER (Kinematic Equivalent Replica).

Features

• Joint mapping: Flexible configuration-based mapping from leader to follower joints
• Serial communication: Interface with m5stack-cores3 via uart

Quick start

Install

pip install openarm_ker

Sample usage

import numpy as np
import openarm_ker

m5_port = openarm_ker.M5Port("/dev/ttyACM0")

leader_joint_names = [f"arm_joint{i}" for i in range(1, 9)]
mapper = openarm_ker.Mapper(
    mappingyaml_path="/path/to/mapping_m5.yaml",
    leader_joint_names=leader_joint_names,
    mapping_key="right_arm_mappings",
)

m5_port.fetch_present_status_bulk()
leader_position = m5_port.present_position
follower_position = mapper.map(np.deg2rad(leader_position))

Mapper config

Please refer to config/, the default configurations.

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.