OpenArm Setup & First Demo

Unbox, assemble, connect, and run your first teleoperation demo on OpenArm — the open-source robot arm designed for AI training data collection. You have got this.

Beginner ⏱ 1–2 hours Updated April 2026

1. Unbox 2. Assemble 3. Install ROS2 Pkg 4. Connect 5. Visualize 6. First Command 7. Teleop 8. Record Episode 9. Next Steps

Prerequisites

An OpenArm robot arm (available in the RCSV Store)
Ubuntu 22.04 or 24.04 with ROS2 Humble installed (see setup guide)
A flat, stable surface (desk or workbench)
A USB-C cable (included in the box)
Optional: Intel RealSense D405 wrist camera, leader arm for teleoperation

What you will accomplish

In about 1–2 hours, you will go from an unopened box to a fully operational robot arm, visualized in RViz2, responding to commands, and recording its first teleoperation demonstration with LeRobot. Everything you need is in the box (plus the software from this tutorial).

What is in the Box

Open your OpenArm package and verify all components are present. Here is what you should find:

OpenArm Components

⚙

Arm Assembly

Pre-assembled 6-DOF arm with Dynamixel XM430 servos

■

Base Plate

Aluminum mounting plate with rubber feet

⚡

Power Supply

12V 5A DC adapter with barrel connector

↻

USB-C Cable

1.5m USB-C to USB-A data cable

◎

Wrist Camera Mount

3D-printed mount for RealSense D405 or webcam

🔧

Mounting Hardware

M4 bolts, Allen key, cable clips

x1 bag

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Quick Start Card

Printed card with QR code linking to this tutorial

⚒

Gripper

Parallel jaw gripper, pre-attached to wrist

OpenArm Specifications

Degrees of Freedom	6 DOF + gripper
Reach	550 mm
Payload	1.0 kg
Repeatability	±0.1 mm
Servos	Dynamixel XM430-W350
Connection	USB-C (USB 2.0)
Power	12V DC, 48W peak
Weight	3.2 kg
Software	ROS2, LeRobot, Python SDK

Physical Assembly

OpenArm ships pre-assembled — you just need to attach the base and connect cables. This takes about 10 minutes.

Attach base plate: Place the arm on the aluminum base plate. Align the 4 mounting holes and secure with the included M4 bolts using the Allen key. Tighten firmly — the arm should not wobble.
Connect power: Plug the barrel connector from the 12V power supply into the port on the arm's base. Do NOT power on yet.
Mount wrist camera (optional): Slide the camera mount onto the wrist bracket and secure with the two small screws. Attach your RealSense D405 or USB webcam to the mount.
Route cables: Use the included cable clips to route the USB-C and camera cables along the arm. This prevents cables from snagging during operation.
Position on desk: Place the assembled arm on a stable, flat surface with at least 60 cm of clear space around it in all directions.

Safety: Keep hands clear of the arm joints when powered. OpenArm servos are strong enough to pinch fingers. Always start with the arm in a known position (straight up) before sending commands.

Install OpenArm ROS2 Package

Clone the OpenArm ROS2 packages into your workspace and build them.

Copy# Make sure ROS2 is sourced source /opt/ros/humble/setup.bash # Clone OpenArm packages into your workspace cd ~/ros2_ws/src git clone https://github.com/svrc-robotics/openarm\_ros2.git # This includes: # openarm_description — URDF, meshes, RViz config # openarm_bringup — launch files for hardware # openarm_control — ros2-control config # openarm_moveit — MoveIt2 config (optional) # Install dependencies cd ~/ros2_ws rosdep install --from-paths src --ignore-src -r -y # Build colcon build --symlink-install source install/setup.bash

Starting >>> openarm_description Starting >>> openarm_control Starting >>> openarm_bringup Finished <<< openarm_description [2.1s] Finished <<< openarm_control [3.4s] Finished <<< openarm_bringup [2.8s] Summary: 3 packages finished [4.2s]

Connect via USB-C

Connect OpenArm to your computer with the USB-C cable and set up permissions.

Copy# Connect USB-C cable and power on the arm # The servos will briefly flash their LEDs # Check that the device is detected ls /dev/ttyUSB* # Expected output: /dev/ttyUSB0

Set up a udev rule so you do not need sudo every time:

Copy# Create udev rule for Dynamixel USB adapter sudo bash -c 'cat > /etc/udev/rules.d/99-openarm.rules << EOF # OpenArm — Dynamixel U2D2 USB adapter SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", MODE="0666", SYMLINK+="openarm" EOF' # Reload udev rules sudo udevadm control --reload-rules sudo udevadm trigger # Verify — you should now see /dev/openarm as a symlink ls -la /dev/openarm

Copy# Quick connectivity test — ping all servos ros2 run openarm_bringup ping_servos --port=/dev/openarm # Expected output: Servo 1 (shoulder_pan): OK — firmware 46 Servo 2 (shoulder_lift): OK — firmware 46 Servo 3 (elbow): OK — firmware 46 Servo 4 (wrist_pitch): OK — firmware 46 Servo 5 (wrist_roll): OK — firmware 46 Servo 6 (gripper): OK — firmware 46 All 6 servos responding.

All 6 servos responding? You are connected and ready. If any servo is missing, check the daisy-chain cable between servos — gently reseat the connectors on the non-responding servo and its neighbor.

Launch RViz2 Visualization

See your arm in 3D by launching the robot description and RViz2.

Copy# Launch robot_state_publisher + RViz2 visualization ros2 launch openarm_description display.launch.py

RViz2 opens with the OpenArm URDF model displayed. You should see:

The arm model rendered in the 3D viewport
Joint state publisher GUI sliders on the side
The arm updating in real-time as you move the sliders

If you have the arm connected, launch with hardware feedback instead:

Copy# Launch with live hardware feedback (arm must be connected) ros2 launch openarm_bringup openarm.launch.py \ port:=/dev/openarm \ rviz:=true

Now physically move the arm gently (with power off or in torque-disabled mode) and watch the RViz2 model follow your movements in real time.

Run First Joint Position Command

Send your first command to the arm. We will move it to a safe "home" position.

Copy# Make sure the bringup is running in another terminal: # ros2 launch openarm_bringup openarm.launch.py port:=/dev/openarm # Send arm to home position (all joints at 0) ros2 topic pub --once /target_joint_positions sensor_msgs/msg/JointState \ "{position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.5]}"

The arm should smoothly move to the upright home position with the gripper half-open.

Copy# Try a different pose — reach forward ros2 topic pub --once /target_joint_positions sensor_msgs/msg/JointState \ "{position: [0.0, -0.5, 0.8, -0.3, 0.0, 0.5]}" # Close the gripper ros2 topic pub --once /target_joint_positions sensor_msgs/msg/JointState \ "{position: [0.0, -0.5, 0.8, -0.3, 0.0, 0.0]}" # Open the gripper ros2 topic pub --once /target_joint_positions sensor_msgs/msg/JointState \ "{position: [0.0, -0.5, 0.8, -0.3, 0.0, 1.0]}"

Safety: Start with small joint angle changes. Large sudden movements can cause the arm to collide with the table or itself. The safe range for shoulder_lift (joint 2) is roughly -1.0 to 0.5 radians when the arm is on a desk.

Set Up Teleoperation

Now let us control the arm interactively. You can use keyboard control (simplest) or a leader arm (best for data collection).

Option A: Keyboard Teleoperation

Copy# Launch keyboard teleop node ros2 run openarm_bringup keyboard_teleop --port=/dev/openarm # Controls: # W/S — shoulder lift up/down # A/D — base rotate left/right # Q/E — elbow flex/extend # R/F — wrist pitch up/down # Z/X — wrist roll left/right # O/C — gripper open/close # Space — stop all movement # H — return to home position

Option B: Leader Arm Teleoperation (recommended for data collection)

Copy# Connect leader arm to second USB port ls /dev/ttyUSB* # Should show /dev/ttyUSB0 (follower) and /dev/ttyUSB1 (leader) # Launch leader-follower teleoperation ros2 launch openarm_bringup teleop.launch.py \ follower_port:=/dev/ttyUSB0 \ leader_port:=/dev/ttyUSB1

With leader-follower mode, physically moving the leader arm causes the follower arm to mirror your movements in real time. This is the best way to collect high-quality demonstration data.

Feel the response: The follower arm should track your leader movements with minimal delay (<50ms). If there is noticeable lag, check that both arms are on separate USB buses (not a shared hub) and reduce the control rate from 500 Hz to 200 Hz.

Record First LeRobot Episode

Time to record your first demonstration. Set up a simple task (e.g., pick up a small object) and record it with LeRobot.

Copy# Activate LeRobot environment source /lerobot_env/bin/activate # Record a single episode lerobot record \ --robot-type=openarm \ --port=/dev/openarm \ --leader-port=/dev/ttyUSB1 \ --fps=30 \ --task="pick_object" \ --num-episodes=1 \ --output-dir=/datasets/openarm_first_demo # Press Enter to start recording # Perform the task with the leader arm # Press Enter to stop recording

Recording episode 1/1... Press Enter to START recording. [Recording] Frame 0... 30... 60... 90... Press Enter to STOP recording. Episode 1 saved: 127 frames (4.2s) at 30fps Dataset saved to ~/datasets/openarm_first_demo/

Verify your recording:

Copy# Visualize the recorded episode lerobot visualize-dataset \ --dataset-path=~/datasets/openarm_first_demo \ --episode=0

Congratulations — your first episode is recorded.

You have gone from an unopened box to a working robot arm that records teleoperation demonstrations. That is the hardest part done. From here, everything is about scaling up: more episodes, more tasks, better policies.

Next Steps

Your OpenArm is set up and recording. Here is your learning path from here:

Record 50 episodes of a pick-and-place task following the LeRobot quickstart guide
Train your first ACT policy and watch the arm perform the task autonomously
Scale to 300+ episodes for VLA fine-tuning using the data collection tutorial
Fine-tune OpenVLA on your data with the VLA fine-tuning guide

Need another OpenArm?

Building a multi-arm setup or outfitting a lab? RCSV offers volume pricing and custom configurations for research teams.

Visit the Store

Troubleshooting

No /dev/ttyUSB device found

Check that the USB-C cable is firmly connected at both ends. Try a different USB port. Run dmesg | tail to see if the device was detected by the kernel. If you see "FTDI" in the output, the device is recognized but may need the ftdi_sio driver: sudo modprobe ftdi_sio.

Servo not responding in ping test

Check the daisy-chain cable between the non-responding servo and its neighbor. Reseat both connectors. If a single servo is unresponsive, its ID may have been reset — use the Dynamixel Wizard to scan and reassign IDs.

Arm moves to wrong position

The calibration may be off. Re-run ros2 run openarm_bringup ping_servos --port=/dev/openarm to verify all servo IDs match the expected configuration. Check that the URDF joint limits match your physical arm.

RViz2 shows arm in wrong orientation

Make sure you sourced the workspace: source ~/ros2_ws/install/setup.bash. The URDF may not be found if the workspace is not sourced. Also verify the fixed frame in RViz2 is set to base_link.

Leader arm teleoperation has high latency

Ensure both arms are on separate USB controllers (not a shared hub). Reduce the control rate: add control_rate:=200 to the launch command. Check CPU usage — close unnecessary applications. On laptops, make sure you are plugged in (power saving throttles USB).

Frequently Asked Questions

What is OpenArm and who is it for?

OpenArm is an open-source 6-DOF robot arm designed specifically for AI training data collection. It features a built-in wrist camera mount, leader-follower support for teleoperation, and native LeRobot integration. It is built for researchers, labs, and teams collecting manipulation data for robot learning.

What are the OpenArm specifications?

OpenArm has 6 degrees of freedom, a 550mm reach, 1 kg payload capacity, 0.1 mm repeatability, and Dynamixel XM430 servos. It connects via USB-C, weighs 3.2 kg, and draws 48W at peak. The wrist camera mount accepts Intel RealSense D405 or USB webcams.

Do I need ROS2 to use OpenArm?

ROS2 is recommended for the full feature set (RViz visualization, MoveIt2 planning, ros2-control hardware interface). However, OpenArm also works directly with LeRobot's Python API without ROS2 — you can record demonstrations and train policies using just LeRobot.

Can I use OpenArm with LeRobot?

Yes, OpenArm has native LeRobot support. It is listed as a supported robot in the LeRobot hardware library and comes pre-configured with the correct YAML settings. You can start recording demonstrations immediately after physical setup.

Where can I buy OpenArm?

OpenArm is available in the RCSV Store at roboticscenter.ai/store. It ships in 3–5 business days within the US. International shipping is available. The arm comes fully assembled with all cables, power supply, and a quick-start guide.

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