MuJoCo Description Files (MJCF) for OpenArm

This repository contains assets for OpenArm v1 (above) and v0.3 (below) simulation in MuJoCo.

Usage

resting_bimanual.mp4

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
• 💬 Join the community on Discord
• 📬 Contact us through openarm@enactic.ai

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.