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Install MuJoCo and launch a simulation.\n2. Drag the `*.xml` file into the simulation window.\n\nThe motors use torque control, so position and velocity control can be achieved by implementing a simple PD controller in client code.\n\n## Collision Visualization\n- To view collision meshes, activate `Rendering`\u003e`Model Elements`\u003e`Convex Hull` and `Group Enable`\u003e`Geom groups`\u003e`Geom 3` in the left sidebar\n- It may also help to hide the visual meshes by deselecting `Geom 2`\n\n\u003cimg height=\"534\" alt=\"image\" src=\"https://github.com/user-attachments/assets/1b003bf4-f0ce-42b9-89df-c8efd073cde7\" /\u003e\n\n## ROS2 Hardware Interface\n\nMuJoCo can be used to simulate realistic hardware interfaces to test low-frequency control without physical hardware. \n\nhttps://github.com/enactic/openarm_mujoco_hardware\n\n\n## URDF to MJCF Conversion\n- Grippers actuate equally using a tendon and equality constraint, which uses a mimic joint in URDF\n- Off-diagonal inertias are set to zero\n- Motors require `ctrlrange` limits and joints have additional runtime properties `damping` and `frictionloss`\n\n## Related links\n\n- 📚 Read the [documentation](https://docs.openarm.dev/simulation/mujoco)\n- 💬 Join the community on [Discord](https://discord.gg/FsZaZ4z3We)\n- 📬 Contact us through \u003copenarm@enactic.ai\u003e\n\n## License\n\nLicensed under the Apache License 2.0. See `LICENSE` for details.\n\nCopyright 2025 Enactic, Inc.\n\n## Code of Conduct\n\nAll participation in the OpenArm project is governed by our\n[Code of Conduct](CODE_OF_CONDUCT.md).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fopenarm_mujoco","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fenactic%2Fopenarm_mujoco","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fopenarm_mujoco/lists"}