enactic · abetomo · Apr 17, 2026
diff --git a/website/docusaurus.config.ts b/website/docusaurus.config.ts
@@ -59,6 +59,21 @@ const config: Config = {
           remarkPlugins: [require('remark-math')],
           rehypePlugins: [require('rehype-katex')],
           showLastUpdateTime: true,
+
+          // Versioning.
+          // todo: Temporary settings until v2 is released.
+          lastVersion: 'v1',
+          versions: {
+            current: {
+              label: 'v2 (Preview)',
+              path: 'v2',
+              banner: 'unreleased',
+            },
+            v1: {
+              label: 'v1',
+              // v1 is the default version, served at `/`.
+            },
+          },
         },
         blog: {
           showReadingTime: true,
@@ -148,6 +163,10 @@ const config: Config = {
           label: 'GitHub',
           position: 'right',
         },
+        {
+          type: 'docsVersionDropdown',
+          position: 'right',
+        },
       ],
     },
     footer: {

diff --git a/website/versioned_docs/version-v1/faq/_category_.json b/website/versioned_docs/version-v1/faq/_category_.json
@@ -0,0 +1,6 @@
+{
+  "label": "FAQ",
+  "position": 7,
+  "link": {
+  }
+}
diff --git a/website/versioned_docs/version-v1/faq/index.md b/website/versioned_docs/version-v1/faq/index.md
@@ -0,0 +1,43 @@
+---
+sidebar_position: 1
+---
+
+# Questions
+
+## Is there a mobile base?
+
+The OpenArm project does not currently have any short-term plans for a mobile base.
+Please consider integrating it with another project, for more information, refer to [this GitHub issue](https://github.com/enactic/openarm/issues/219).
+
+## The motor is not working.
+
+See the [troubleshooting section](/software/setup/motor-id#trouble-shooting).
+
+## Do you have any recommended CAN devices?
+
+Please use the devices listed in the [Bill of Materials > Electronics](/hardware/bill-of-materials/electrical).
+Using other CAN devices may result in unexpected behavior.
+
+## How accurate and repeatable is it?
+
+We're preparing the documentation.
+
+## How much power does it consume?
+
+We're preparing the documentation.
+
+## Where can I get support?
+
+You can also reach out to our community for tips and 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/versioned_docs/version-v1/getting-started/_category_.json b/website/versioned_docs/version-v1/getting-started/_category_.json
@@ -0,0 +1,8 @@
+{
+  "label": "Getting started",
+  "position": 1,
+  "link": {
+    "type": "generated-index",
+    "description": "Getting started guide for OpenArm 1."
+  }
+}
diff --git a/website/versioned_docs/version-v1/getting-started/contribute.md b/website/versioned_docs/version-v1/getting-started/contribute.md
@@ -0,0 +1,81 @@
+---
+title: Contribution Guide
+sidebar_position: 4
+---
+
+import GitHubIssues from '@site/src/components/GitHubIssues';
+
+# Contribution Guide
+
+We welcome contributions from researchers, developers, makers, and enthusiasts at all levels! Whether you're sharing ideas, picking up tasks, or collaborating on projects, there's a place for you in the OpenArm community.
+
+## 💡 GitHub Issues - Our Idea Pool
+
+Use our [**OpenArm GitHub Repository**](https://github.com/enactic/openarm) as a central hub for new project ideas, feature requests, and bugs:
+
+<GitHubIssues />
+
+<div style={{padding: '20px', backgroundColor: '#e8f5e8', borderRadius: '10px', border: '1px solid #c3e6c3', margin: '20px 0'}}>
+  <h3>🎯 How It Works</h3>
+
+  <p><strong>👍 Upvote issues</strong> that resonate with you, this helps us prioritize what the community wants most.</p>
+  <p><strong>💡 Share your own ideas</strong> by creating new issues - no idea is too small or too ambitious!</p>
+  <p><strong>🔧 Unassigned issues = Open for pickup!</strong> Browse our issues and self-assign anything that interests you. No need to ask for permission, just start working and share your progress along the way in the comments!</p>
+</div>
+
+### Submit Issues For:
+- 💡 Project ideas and feature requests
+- 🐛 Bug reports and technical issues  
+- 🗣️ Community discussions and feedback
+- 🚀 Roadmap suggestions and priorities
+
+<div style={{textAlign: 'center', margin: '20px 0'}}>
+  <a href="https://github.com/enactic/openarm/issues" style={{
+    display: 'inline-block',
+    padding: '12px 24px',
+    backgroundColor: '#24292f',
+    color: 'white',
+    textDecoration: 'none',
+    borderRadius: '8px',
+    fontWeight: 'bold'
+  }}>🙌 Submit or Pick Up Issues</a>
+</div>
+
+## 💬 Discord - Connect & Collaborate
+
+Join our Discord to find collaborators, share what you're building, and integrate projects together.
+
+| Channel | Purpose | Best For |
+|---------|---------|----------|
+| **#projects** | Share builds, ideas, and find collaborators | Showcasing work, finding project partners |
+| **#faq** | Quick questions and community answers | Getting started, troubleshooting |
+| **#updates** | Official announcements | Staying current with developments |
+| **#weekly** | Development progress highlights | Following project milestones |
+| **#hardware** | Hardware discussions and improvements | Mechanical issues, design ideas |
+| **#controls** | Control algorithms and software | Development discussions, theory |
+
+<div style={{textAlign: 'center', margin: '20px 0'}}>
+  <a href="https://discord.gg/FsZaZ4z3We" style={{
+    display: 'inline-block',
+    padding: '12px 24px',
+    backgroundColor: '#5865f2',
+    color: 'white',
+    textDecoration: 'none',
+    borderRadius: '8px',
+    fontWeight: 'bold'
+  }}>💬 Join Discord Community</a>
+</div>
+## 🔧 Contributing Code & Fixes
+
+**Ready to submit your work?** We'd love to review your pull requests!
+
+<div style={{padding: '20px', backgroundColor: '#fff3e0', borderRadius: '10px', border: '1px solid #ffe0b3', margin: '20px 0'}}>
+  <h4>📤 Pull Request Process</h4>
+  <ol>
+    <li><strong>Fork</strong> the relevant repository</li>
+    <li><strong>Create a branch</strong> for your changes</li>
+    <li><strong>Make your improvements</strong> - fix bugs, add features, improve docs</li>
+    <li><strong>Test thoroughly</strong> when possible</li>
+    <li><strong>Submit a pull request</strong> with a clear description of what you've built or fixed</li>
+  </ol>
+</div>
diff --git a/website/versioned_docs/version-v1/getting-started/index.mdx b/website/versioned_docs/version-v1/getting-started/index.mdx
@@ -0,0 +1,109 @@
+---
+slug: /
+sidebar_position: 1
+---
+
+import BlockImage from '@site/src/components/BlockImage';
+
+# Discover OpenArm
+
+**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!
+
+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"
+    title="YouTube video player"
+    style={{
+      position: "absolute",
+      top: 0,
+      left: 0,
+      width: "100%",
+      height: "100%",
+      border: 0
+    }}
+    allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share"
+    allowFullScreen
+  />
+</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>
+
+## What's Unique?
+
+- **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.
+
+- **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.
+
+- **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.
+
+
+<BlockImage src="getting-started/index/unique.png" alt="leader-follower" width="100%" />
+
+
+
+
diff --git a/website/versioned_docs/version-v1/getting-started/project-overview.mdx b/website/versioned_docs/version-v1/getting-started/project-overview.mdx
@@ -0,0 +1,106 @@
+---
+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)