dora-openarm-mujoco 0.1.0

dora-rs node that simulates OpenArm bimanual robot in MuJoCo

dora-openarm-mujoco

MuJoCo simulation node for the OpenArm bimanual robot, designed to run inside a dora-rs 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

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.

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)

- 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)

- 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.

License

Licensed under the Apache License 2.0. See LICENSE for details.

Copyright 2026 Enactic, Inc.

Code of Conduct

All participation in the OpenArm project is governed by our Code of Conduct.