https://github.com/enactic/openarm_mujoco
MuJoCo specification file and assets for OpenArm
https://github.com/enactic/openarm_mujoco
mjcf mujoco simulation
Last synced: 7 days ago
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MuJoCo specification file and assets for OpenArm
- Host: GitHub
- URL: https://github.com/enactic/openarm_mujoco
- Owner: enactic
- License: apache-2.0
- Created: 2025-02-07T06:18:49.000Z (12 months ago)
- Default Branch: master
- Last Pushed: 2025-08-28T23:34:54.000Z (5 months ago)
- Last Synced: 2025-08-29T04:32:00.989Z (5 months ago)
- Topics: mjcf, mujoco, simulation
- Homepage: https://github.com/enactic/openarm
- Size: 51.1 MB
- Stars: 9
- Watchers: 0
- Forks: 5
- Open Issues: 1
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Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md
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README
# MuJoCo Description Files (MJCF) for OpenArm
This repository contains assets for OpenArm v1 (above) and v0.3 (below) simulation in MuJoCo.
## Usage
https://github.com/user-attachments/assets/814ee3e1-36dd-4561-a837-25e921838253
1. Install MuJoCo and launch a simulation.
2. Drag the `*.xml` file into the simulation window.
The motors use torque control, so position and velocity control can be achieved by implementing a simple PD controller in client code.
## Collision Visualization
- To view collision meshes, activate `Rendering`>`Model Elements`>`Convex Hull` and `Group Enable`>`Geom groups`>`Geom 3` in the left sidebar
- It may also help to hide the visual meshes by deselecting `Geom 2`
## ROS2 Hardware Interface
MuJoCo can be used to simulate realistic hardware interfaces to test low-frequency control without physical hardware.
https://github.com/enactic/openarm_mujoco_hardware
## URDF to MJCF Conversion
- Grippers actuate equally using a tendon and equality constraint, which uses a mimic joint in URDF
- Off-diagonal inertias are set to zero
- Motors require `ctrlrange` limits and joints have additional runtime properties `damping` and `frictionloss`
## Related links
- 📚 Read the [documentation](https://docs.openarm.dev/simulation/mujoco)
- 💬 Join the community on [Discord](https://discord.gg/FsZaZ4z3We)
- 📬 Contact us through
## License
Licensed under the Apache License 2.0. See `LICENSE` for details.
Copyright 2025 Enactic, Inc.
## Code of Conduct
All participation in the OpenArm project is governed by our
[Code of Conduct](CODE_OF_CONDUCT.md).