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

Outputs

Camera outputs carry metadata={"encoding": "jpeg"}.

Arguments

Pass these via the args: field in the dataflow YAML, or directly on the command line.

Environment variables

Every argument's default can also be set via an environment variable named DORA_OPENARM_MUJOCO_ + the upper-cased argument name:

Boolean flags accept 1/0, true/false, yes/no and on/off. DORA_OPENARM_MUJOCO_VIEWER additionally accepts an FPS number (e.g. 60); true enables the viewer at the default 30 Hz.

Explicit CLI arguments override the environment. Boolean flags also gain a --no-* form (e.g. --no-render, --no-viewer) to turn an environment-enabled option back off. Set the variables via the env: field of the node in the dataflow YAML:

- id: openarm-mujoco
  path: dora-openarm-mujoco
  env:
    DORA_OPENARM_MUJOCO_VIEWER: "60"
    DORA_OPENARM_MUJOCO_RENDER: "true"

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.