https://github.com/enactic/dora-openarm-mujoco
dora-rs node that simulate OpenArm bimanual robot in MuJoCo
https://github.com/enactic/dora-openarm-mujoco
Last synced: 21 days ago
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dora-rs node that simulate OpenArm bimanual robot in MuJoCo
- Host: GitHub
- URL: https://github.com/enactic/dora-openarm-mujoco
- Owner: enactic
- License: apache-2.0
- Created: 2026-05-15T07:57:02.000Z (about 1 month ago)
- Default Branch: main
- Last Pushed: 2026-05-27T02:40:54.000Z (25 days ago)
- Last Synced: 2026-05-27T04:24:05.372Z (25 days ago)
- Language: Python
- Size: 399 KB
- Stars: 0
- Watchers: 1
- Forks: 6
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# dora-openarm-mujoco
MuJoCo simulation node for the [OpenArm](https://github.com/enactic/openarm_mujoco) bimanual robot, designed to run inside a [dora-rs](https://github.com/dora-rs/dora) dataflow.
It replaces the physical follower arms and cameras: it accepts joint-position commands and publishes arm observations and JPEG camera frames at the same interface as the real hardware.
## Installation
```bash
uv sync
```
## Quick start
A self-contained dummy dataflow is included for testing without real hardware.
It wires a dummy leader node to the MuJoCo sim and records to disk.
```bash
uv run dora build dataflow-dummy.yaml --uv
uv run dora run dataflow-dummy.yaml
```
## Dataflow configuration
### Minimal (headless and position forwarding only no cameras)
```yaml
- id: openarm-mujoco
build: pip install -e .
path: dora-openarm-mujoco
inputs:
position_right: leader/follower_position_right
position_left: leader/follower_position_left
outputs:
- status
- arm_right_observation
- arm_left_observation
```
### Full (interactive viewer + all cameras, with contacts, can be used for vr teleoperation)
```yaml
- id: openarm-mujoco
build: pip install -e .
path: dora-openarm-mujoco
args: "--viewer --render --enable-collision --ctrl --keyframe home"
inputs:
position_right: leader/follower_position_right
position_left: leader/follower_position_left
outputs:
- status
- arm_right_observation
- arm_left_observation
- camera_wrist_right
- camera_wrist_left
- camera_head_left
- camera_head_right
- camera_ceiling
```
## Inputs
| ID | Type | Description |
|----|------|-------------|
| `position_right` | `float32[8]` | Target joint positions for the right arm: joints 1–7 then the gripper. ~500 Hz. |
| `position_left` | `float32[8]` | Same layout for the left arm. |
| `pose_right` | `float32[7]` | VR controller pose `[x, y, z, qw, qx, qy, qz]`. Used only with `--debug-frames`. |
| `pose_left` | `float32[7]` | Same for the left controller. |
## Outputs
| ID | Type | Description |
|----|------|-------------|
| `arm_right_observation` | `float32[8]` | Observed joint positions, published per incoming command. |
| `arm_left_observation` | `float32[8]` | Same for the left arm. |
| `camera_wrist_right` | `uint8[N]` | JPEG frame, ~30 Hz. Requires `--render`. |
| `camera_wrist_left` | `uint8[N]` | JPEG frame, ~30 Hz. Requires `--render`. |
| `camera_head_left` | `uint8[N]` | JPEG frame, ~30 Hz. Requires `--render`. |
| `camera_head_right` | `uint8[N]` | JPEG frame, ~30 Hz. Requires `--render`. |
| `camera_ceiling` | `uint8[N]` | JPEG frame, ~30 Hz. Requires `--render`. |
Camera outputs carry `metadata={"encoding": "jpeg"}`.
## Arguments
Pass these via the `args:` field in the dataflow YAML, or directly on the command line.
| Argument | Default | Description |
|----------|---------|-------------|
| `--xml PATH` | unset | MJCF scene file to load. Overrides `--scene` when set. |
| `--scene NAME` | `cell` | Bundled scene to load when `--xml` is not set. Choices: `cell`, `demo`, `pedestal`, `bimanual`. |
| `--keyframe NAME` | `home` | Keyframe in the MJCF to reset to on startup. |
| `--enable-collision` | off | Enable contact/collision detection. Disabled by default to avoid unexpected joint-locking during teleoperation. |
| `--ctrl` | off | Write incoming positions to `data.ctrl` and step the physics (`mj_step`) to simulate actuator control. The default writes directly to `data.qpos` with `mj_forward`. |
| `--viewer` | off | Open the interactive MuJoCo viewer window. Requires a display. |
| `--render` | off | Enable offscreen camera rendering and publish JPEG frames. Leave off if cameras are not needed. |
| `--debug-frames` | off | Draw VR controller poses as coloured arrows in the viewer. Only visible with `--viewer`. |