From 121557056cc15608dbeb490fef0d359d8e0d81a8 Mon Sep 17 00:00:00 2001
From: "Tasuku SUENAGA a.k.a. gunyarakun" <tasuku-s-github@titech.ac>
Date: Mon, 18 May 2026 16:09:51 +0900
Subject: [PATCH] website: rewrite Overview for 2.0

Merge "Discover OpenArm" and "Project Overview" into a single
"Project Overview" page covering the 2.0 ecosystem (arm, Cell, KER),
and add a "What's New in 2.0" page.
---
 website/docs/overview/_category_.json      |   2 +-
 website/docs/overview/index.mdx            | 158 +++++++++++----------
 website/docs/overview/project-overview.mdx | 106 --------------
 website/docs/overview/whats-new-in-2.0.mdx |  73 ++++++++++
 4 files changed, 160 insertions(+), 179 deletions(-)
 delete mode 100644 website/docs/overview/project-overview.mdx
 create mode 100644 website/docs/overview/whats-new-in-2.0.mdx

diff --git a/website/docs/overview/_category_.json b/website/docs/overview/_category_.json
index 2d892e89..302088b8 100644
--- a/website/docs/overview/_category_.json
+++ b/website/docs/overview/_category_.json
@@ -3,6 +3,6 @@
   "position": 1,
   "link": {
     "type": "generated-index",
-    "description": "Getting started guide for OpenArm 1."
+    "description": "Overview of the OpenArm 2.0 project, what's new since 1.0, safety, and how to contribute."
   }
 }
diff --git a/website/docs/overview/index.mdx b/website/docs/overview/index.mdx
index 425c4f12..e0d11ad7 100644
--- a/website/docs/overview/index.mdx
+++ b/website/docs/overview/index.mdx
@@ -1,19 +1,20 @@
 ---
 slug: /
+title: Project Overview
 sidebar_position: 1
 ---
 
 import BlockImage from '@site/src/components/BlockImage';
 
-# Discover OpenArm
+# Project Overview
 
-**OpenArm** is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. All hardware and software are completely open-source and ready for you to build, hack, and deploy!
+OpenArm is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. Hardware and software — CAD, firmware, control code, and simulation tools — are openly available so you can build, hack, and deploy.
 
 We're in continuous development and actively seeking contributors, research partners, and company collaborators to shape the next generation of practical humanoid systems.
 
 <div style={{ position: "relative", paddingBottom: "56.25%", height: 0, margin: "2rem 0", overflow: "hidden" }}>
   <iframe
-    src="https://www.youtube.com/embed/6ZLM6f8kF4Q"
+    src="https://www.youtube.com/embed/QzJSBbF7zIE"
     title="YouTube video player"
     style={{
       position: "absolute",
@@ -28,82 +29,95 @@ We're in continuous development and actively seeking contributors, research part
   />
 </div>
 
-<div style={{
-  display: 'flex',
-  flexDirection: 'column',
-  alignItems: 'center',
-  marginTop: '3rem',
-  marginBottom: '3rem'
-}}>
-  <div style={{
-    border: '2px solid #ebebeb',
-    borderRadius: '1rem',
-    padding: '2.5rem 2rem',
-    background: '#fff',
-    boxShadow: '0 4px 10px rgba(0,0,0,0.08)',
-    maxWidth: '100%',
-    width: '100%',
-    textAlign: 'center'
-  }}>
-    <h3 style={{
-      margin: 0,
-      fontSize: '1.75rem',
-      color: '#111827',
-      fontWeight: '700'
-    }}>
-      📦 Purchase Your OpenArm!
-    </h3>
-    <p style={{
-      marginTop: '1rem',
-      marginBottom: '1.5rem',
-      fontSize: '1rem',
-      color: '#374151',
-      lineHeight: '1.6'
-    }}>
-      Get your OpenArm, assembled or DIY, and join the global community!<br/>
-      Browse verified and certified manufacturers worldwide.
-    </p>
-    <a href="../purchase" style={{
-      display: 'inline-block',
-      padding: '10px 20px',
-      backgroundColor: '#5FBBC7',
-      color: 'white',
-      textDecoration: 'none',
-      borderRadius: '5px',
-      fontWeight: '600'
-    }}
-    onMouseOver={(e) => {
-      e.currentTarget.style.background = '#3b8089';
-      e.currentTarget.style.transform = 'translateY(-2px)';
-    }}
-    onMouseOut={(e) => {
-      e.currentTarget.style.background = '#5Fbbc7';
-      e.currentTarget.style.transform = 'none';
-    }}
-    >Buy Now →</a>
-  </div>
-</div>
+## Making SOTA Reproducible
 
-## What's Unique?
+OpenArm 2.0 is a unified environment for data collection and reproducible auto-evaluation — the open-source foundation to turn isolated experiments into shared progress. Claims like "Model A outperforms Model B" only hold meaning when results can be reproduced under identical conditions, so the project pairs the arm itself with a standardized evaluation environment and teaching tools.
 
-- **Human-Scale Design**
-  OpenArm is designed with human-like proportions and dimensions, scaled for a person around 160-165cm tall. This provides an optimal balance between practical reach and manageable inertia for safe, responsive operation.
-
-- **Safety-First Architecture**
-  Built with QDD backdrivable motors and high compliance, OpenArm prioritizes safe human-robot interaction while maintaining practical payload capabilities (6.0kg peak / 4.1kg nominal) for real-world tasks.
-
-- **Built for Durability**
-  Critical structural components use aluminum and stainless steel construction, ensuring robust performance for repetitive data collection and continuous research use.
+## What's Unique?
 
-- **Fully Accessible & Buildable**
-  Every component — from CNC parts and 3D-printed casings to electrical wiring — is designed to be purchasable and buildable by individual researchers and labs, with complete fabrication data provided.
+- Human-scale design, with proportions and dimensions scaled for a person around 160–165 cm tall. This provides a good balance between practical reach and manageable inertia for safe, responsive operation.
+- Safety-first architecture. QDD backdrivable motors and high compliance prioritize safe human–robot interaction while maintaining practical payload (6.0 kg peak / 4.1 kg nominal) for real-world tasks.
+- Bilateral force feedback for contact-rich teleoperation and high-fidelity data collection, beyond what unilateral leader–follower setups can capture.
+- Built for durability. Critical structural components use aluminum and stainless steel construction for robust performance under repetitive data collection and continuous research use.
+- Fully accessible and buildable. Every component — from CNC parts and 3D-printed casings to electrical wiring — is purchasable and buildable by individual researchers and labs, with complete fabrication data provided.
+- Practical and affordable. OpenArm delivers research-grade capabilities at a fraction of traditional humanoid robot costs, making advanced robotics accessible to more teams and applications.
+
+<BlockImage src="hardware/openarm-2.0/general/openarm-2.0.png" alt="OpenArm 2.0" width="100%" />
+
+## The OpenArm Ecosystem
+
+OpenArm 2.0 is more than the arm. It is a coordinated set of hardware that targets the full loop of data collection, training, and reproducible evaluation.
+
+- [OpenArm 2.0](../hardware/openarm-2.0/general.mdx) — the 7DOF arm itself: human-scale dimensions, QDD backdrivable joints, an in-hand camera in a redesigned compact gripper, and a MISUMI-frame base that is easy to mount and extend.
+- [OpenArm Cell](../hardware/openarm-cell/general.mdx) — a reproducible evaluation cell that standardizes background, lighting, cameras, and arm position so that model comparisons are fair and automatable.
+- [OpenArm KER](../hardware/openarm-ker/general.mdx) — Kinematic Equivalent Replica, a motorless leader arm with identical kinematics to OpenArm 2.0 for intuitive, low-fatigue teleoperation and teaching.
+
+## Specifications at a Glance
+
+OpenArm 2.0 has a small human-like physique. The support pillars are made of MISUMI aluminum frames, making it easy to adjust the dimensions and attach cameras, sensors, and other attachments. The base plate has evenly spaced M6 taps so it can be fixed directly to a table or other surface, and each joint has a mechanical limit that restricts the range of motion for safety.
+
+<table>
+  <tbody>
+    <tr><td>DOF</td><td>7 per arm</td></tr>
+    <tr><td>Nominal payload</td><td>4.1 kg (held for 1 minute in the worst posture)</td></tr>
+    <tr><td>Peak payload</td><td>6.0 kg (3 s move + 1 s hold in the worst posture)</td></tr>
+    <tr><td>Joints</td><td>QDD backdrivable, mechanical limits on every axis</td></tr>
+    <tr><td>Control bus</td><td>CAN-FD</td></tr>
+    <tr><td>Structure</td><td>Aluminum + stainless steel, MISUMI-frame base</td></tr>
+    <tr><td>End-effector</td><td>Compact parallel gripper with in-hand camera</td></tr>
+  </tbody>
+</table>
+
+See [Hardware → OpenArm 2.0 → General](../hardware/openarm-2.0/general.mdx) for full dimensions, payload definitions, and CAD/BOM downloads.
+
+## Purchase OpenArm
+
+OpenArm is available as a DIY kit or as a fully assembled unit from verified manufacturers worldwide.
+
+<div style={{ margin: '1.5rem 0' }}>
+  <a href="../purchase" style={{
+    display: 'inline-block',
+    padding: '10px 20px',
+    backgroundColor: '#5FBBC7',
+    color: 'white',
+    textDecoration: 'none',
+    borderRadius: '5px',
+    fontWeight: '600'
+  }}
+  onMouseOver={(e) => {
+    e.currentTarget.style.background = '#3b8089';
+    e.currentTarget.style.transform = 'translateY(-2px)';
+  }}
+  onMouseOut={(e) => {
+    e.currentTarget.style.background = '#5Fbbc7';
+    e.currentTarget.style.transform = 'none';
+  }}
+  >Buy Now →</a>
+</div>
 
-- **Practical & Affordable**
-  At 6,500 USD for a complete bimanual system, OpenArm delivers research-grade capabilities at a fraction of traditional humanoid robot costs, making advanced robotics accessible to more teams and applications.
+## Project and Repositories
 
+OpenArm is organized across multiple platforms to support different aspects of development, collaboration, and community engagement.
 
-<BlockImage src="getting-started/index/unique.png" alt="leader-follower" width="100%" />
+- Main site: [openarm.dev](https://openarm.dev) — project homepage with announcements, visualizations, and contact forms.
+- Documentation: [docs.openarm.dev](https://docs.openarm.dev) — complete technical guides and tutorials.
+- GitHub: [enactic/openarm](https://github.com/enactic/openarm) — open-source repositories, issue tracking, and feature requests.
+- Discord: [Join the community](https://discord.gg/GmYa262ETH) — real-time discussions, support, and collaboration.
 
+| Repository | Documentation | Description and Contents |
+|--------------|-----------------|-------------------------------|
+| [openarm](https://github.com/enactic/openarm) |   | Main project repository with ideas, issues, and feature requests |
+| [openarm_hardware](https://github.com/enactic/openarm_hardware) | [Hardware Docs](https://docs.openarm.dev/hardware) | Complete CAD data: STL files, STEP files, Fusion 360 assemblies |
+| [openarm_description](https://github.com/enactic/openarm_description) | [Description Docs](https://docs.openarm.dev/software/description) | Robot description files with URDF/xacro for simulation |
+| [openarm_can](https://github.com/enactic/openarm_can) | [CAN Docs](https://docs.openarm.dev/software/can/) | CAN control library for low-level motor communication |
+| [openarm_ros2](https://github.com/enactic/openarm_ros2) | [ROS2 Docs](https://docs.openarm.dev/software/ros2/install) | ROS2 integration packages and nodes |
+| [openarm_teleop](https://github.com/enactic/openarm_teleop) | [Teleop Docs](https://docs.openarm.dev/teleop/) | Teleoperation packages with unilateral and bilateral control |
+| [openarm_isaac_lab](https://github.com/enactic/openarm_isaac_lab) | [Isaac Docs](https://docs.openarm.dev/simulation/) | Isaac Lab simulation environment and training tasks |
 
+## Get Help
 
+Our community and team are ready to help:
 
+- Discord — connect with other builders, researchers, and the OpenArm team for real-time support and discussions: [Join Now](https://discord.gg/GmYa262ETH)
+- GitHub Issues — report bugs or request features directly in our repository: [Open an Issue](https://github.com/enactic/openarm/issues)
+- GitHub Discussions — ask technical questions in our repository: [Start a Discussion](https://github.com/enactic/openarm/discussions)
diff --git a/website/docs/overview/project-overview.mdx b/website/docs/overview/project-overview.mdx
deleted file mode 100644
index 73a2cbed..00000000
--- a/website/docs/overview/project-overview.mdx
+++ /dev/null
@@ -1,106 +0,0 @@
----
-title: Project Overview
-sidebar_position: 2
----
-
-# Project Overview & Structure
-
-```mdx-code-block
-import ThemedImage from '@theme/ThemedImage';
-```
-
-OpenArm is organized across multiple platforms to support different aspects of development, collaboration, and community engagement.
-<div style={{display: 'grid', gridTemplateColumns: '1fr 1fr', gap: '20px', marginBottom: '30px'}}>
-  <div style={{padding: '20px', border: '2px solid #e1e8ed', borderRadius: '8px', textAlign: 'center'}}>
-    <h3>🌐 Main Website</h3>
-    <p>Project homepage with announcements, visualizations, and contact forms</p>
-    <a href="https://openarm.dev" style={{
-      display: 'inline-block',
-      padding: '10px 20px',
-      backgroundColor: '#007acc',
-      color: 'white',
-      textDecoration: 'none',
-      borderRadius: '5px',
-      fontWeight: 'bold'
-    }}>Visit Website</a>
-  </div>
-  <div style={{padding: '20px', border: '2px solid #e1e8ed', borderRadius: '8px', textAlign: 'center'}}>
-    <h3>📚 Documentation</h3>
-    <p>Complete technical guides and tutorials for you to build, hack and deploy OpenArm!</p>
-    <a href="https://docs.openarm.dev" style={{
-      display: 'inline-block',
-      padding: '10px 20px',
-      backgroundColor: '#28a745',
-      color: 'white',
-      textDecoration: 'none',
-      borderRadius: '5px',
-      fontWeight: 'bold'
-    }}>Browse Docs</a>
-  </div>
-</div>
-<div style={{display: 'grid', gridTemplateColumns: '1fr 1fr', gap: '20px', marginBottom: '30px'}}>
-  <div style={{padding: '20px', border: '2px solid #e1e8ed', borderRadius: '8px', textAlign: 'center'}}>
-    <h3>💻 GitHub</h3>
-    <p>Open-source repositories with code, CAD files, issue tracking, and feature requests</p>
-    <a href="https://github.com/enactic/openarm" style={{
-      display: 'inline-block',
-      padding: '10px 20px',
-      backgroundColor: '#3e4041ff',
-      color: 'white',
-      textDecoration: 'none',
-      borderRadius: '5px',
-      fontWeight: 'bold'
-    }}>Start Building</a>
-  </div>
-  <div style={{padding: '20px', border: '2px solid #e1e8ed', borderRadius: '8px', textAlign: 'center'}}>
-    <h3>💬 Discord</h3>
-    <p>Join for real-time discussions, support, and collaboration</p>
-    <a href="https://discord.gg/GmYa262ETH" style={{
-      display: 'inline-block',
-      padding: '10px 20px',
-      backgroundColor: '#5865f2',
-      color: 'white',
-      textDecoration: 'none',
-      borderRadius: '5px',
-      fontWeight: 'bold'
-    }}>Join Community</a>
-  </div>
-</div>
-
-| Repository | Documentation | Description and Contents |
-|--------------|-----------------|-------------------------------|
-| **[openarm](https://github.com/enactic/openarm)** |   | Main project repository with ideas, issues, and feature requests |
-| **[openarm_hardware](https://github.com/enactic/openarm_hardware)** | [Hardware Docs](https://docs.openarm.dev/hardware) | Complete CAD data: STL files, STEP files, Fusion 360 assemblies |
-| **[openarm_description](https://github.com/enactic/openarm_description)** | [Description Docs](https://docs.openarm.dev/software/description) | Robot description files with URDF/xacro for simulation |
-| **[openarm_can](https://github.com/enactic/openarm_can)** | [CAN Docs](https://docs.openarm.dev/software/can/) | CAN control library for low-level motor communication |
-| **[openarm_ros2](https://github.com/enactic/openarm_ros2)** | [ROS2 Docs](https://docs.openarm.dev/software/ros2/install) | ROS2 integration packages and nodes |
-| **[openarm_teleop](https://github.com/enactic/openarm_teleop)** | [Teleop Docs](https://docs.openarm.dev/teleop/) | Teleoperation packages with unilateral and bilateral control |
-| **[openarm_isaac_lab](https://github.com/enactic/openarm_isaac_lab)** | [Isaac Docs](https://docs.openarm.dev/simulation/) | Isaac Lab simulation environment and training tasks |
-
-Since its release, we've been steadily receiving stars, and the community is growing reliably.
-
-<a href="https://www.star-history.com/#enactic/openarm&type=date&legend=top-left">
-  <ThemedImage
-    alt="Star History Chart"
-    sources={{
-      dark: 'https://api.star-history.com/svg?repos=enactic%2Fopenarm&type=date&theme=dark&legend=top-left',
-      light: 'https://api.star-history.com/svg?repos=enactic%2Fopenarm&type=date&legend=top-left',
-    }}
-  />
-</a>
-
-## Get Help
-
-Our community and team are ready to help:
-
-- **Discord**
-    Connect with other builders, researchers, and the OpenArm team for real-time support and discussions:
-    [Join Now](https://discord.gg/GmYa262ETH)
-
-- **GitHub Issues**
-    Report bugs or request features directly in our repository:
-    [Open an Issue](https://github.com/enactic/openarm/issues)
-
-- **GitHub Discussions**
-    Ask technical questions directly in our repository:
-    [Start a Discussion](https://github.com/enactic/openarm/discussions)
diff --git a/website/docs/overview/whats-new-in-2.0.mdx b/website/docs/overview/whats-new-in-2.0.mdx
new file mode 100644
index 00000000..9e41dd10
--- /dev/null
+++ b/website/docs/overview/whats-new-in-2.0.mdx
@@ -0,0 +1,73 @@
+---
+title: What's New in 2.0
+sidebar_position: 2
+---
+
+# What's New in 2.0
+
+OpenArm 2.0 is the second major release of the project. Beyond a refreshed arm, it expands OpenArm from "an open-source robot arm" into a full stack for reproducible physical-AI research: the arm, a standardized evaluation cell, and a passive teaching device, all designed to work together.
+
+This page summarizes what changed since 1.0 and why.
+
+## At a Glance
+
+| Area | 1.0 | 2.0 |
+|---|---|---|
+| Hardware lineup | OpenArm (arm only) | OpenArm 2.0 arm + [OpenArm Cell](../hardware/openarm-cell/general.mdx) + [OpenArm KER](../hardware/openarm-ker/general.mdx) (not yet released) |
+| Gripper | Linkage-driven parallel gripper, no in-hand camera | Compact gripper with an in-hand camera and replaceable fingers |
+| Evaluation | Ad-hoc, per-lab setups | Reproducible cell with standardized lighting, cameras, calibration |
+| Teaching / leader device | Leader-follower with a powered arm | Optional motorless [KER](../hardware/openarm-ker/general.mdx) leader for low-fatigue, long-session teleop |
+
+## Hardware: OpenArm 2.0 Arm
+
+The arm keeps the human-scale form factor and payload envelope of 1.0 (7DOF, 4.1 kg nominal / 6.0 kg peak, MISUMI-frame base), and refines the parts that matter most for data collection in tight spaces.
+
+- Redesigned end-effector. The gripper uses a simpler actuation mechanism to keep the overall envelope compact, making it easier to reach into confined spaces than the 1.0 gripper.
+- In-hand camera. A camera is integrated inside the gripper case, so in-hand vision is captured directly during grasping. The finger geometry is shaped both for stable grasping and to minimize blind spots in that view.
+- Replaceable fingers. The finger components are easy to swap, so users can iterate on geometries for specific tasks or objects without redesigning the gripper itself.
+
+See [Hardware → OpenArm 2.0](../hardware/openarm-2.0/general.mdx) for full dimensions, payload definitions, motor specifications, and the CAD/BOM drive link.
+
+## New: OpenArm Cell
+
+[OpenArm Cell](../hardware/openarm-cell/general.mdx) is a new piece of hardware introduced in 2.0. It is a standardized evaluation enclosure that fixes the things that usually drift between labs — background, lighting, cameras, and the arm's mounted position — so that benchmark numbers can actually be compared.
+
+Highlights:
+
+- Off-the-shelf MISUMI-based enclosure and power system for maintainability and global availability of parts.
+- Vertically adjustable Z-axis to accommodate different workpiece heights.
+- Area-sensor reach-in stop that cuts power on intrusion into the workspace.
+- Dedicated zero-position calibration jig that mechanically constrains the gripper to its CAD-defined angles, eliminating assembly tolerances from the dataset.
+
+The motivation is simple: "Model A outperforms Model B" only carries meaning when both were evaluated under the same conditions. The Cell is the shared substrate that makes that possible.
+
+## New: OpenArm KER
+
+[OpenArm KER](../hardware/openarm-ker/general.mdx) (Kinematic Equivalent Replica) is a motorless leader arm whose kinematics match OpenArm 2.0 exactly. With zero actuators, it is lightweight enough to wear or mount near the operator and avoids the fatigue of moving a powered leader for long teleoperation sessions.
+
+KER is targeted at extended data-collection workflows where the operator needs to drive the follower for hours.
+
+:::note
+
+KER is part of the OpenArm 2.0 lineup but has not been released yet. The design is being finalized, and full CAD and BOM will be published once it is ready.
+
+:::
+
+## Documentation and Workflow
+
+The documentation was reorganized around the 2.0 product lineup:
+
+- Hardware is split per product (OpenArm 2.0, OpenArm Cell, OpenArm KER) instead of a single "Specifications" section.
+- A dedicated Dataset section was added for data-collection workflows that feed the Cell-based evaluation loop.
+- The Overview category was simplified: the previous "Discover OpenArm" and "Project Overview" pages are merged into a single [Project Overview](./index.mdx), and this page was added.
+
+## Continuity from 1.0
+
+Some things deliberately did not change:
+
+- 7DOF human-scale arm with a MISUMI-frame base.
+- Same motor lineup (DM-J4310-2EC, DM4340, DM-J8009P) as 1.0.
+- Same payload envelope: 4.1 kg nominal / 6.0 kg peak, including the end-effector.
+- Open hardware and software, buildable from public CAD, BOM, and code.
+
+If you are still on 1.0, the [1.0 documentation](https://docs.openarm.dev/1.0/) remains available.