MuJoCo Description Files (MJCF) for OpenArm

This repository contains assets for OpenArm v2 (above), Cell, v1 and v0.3 (below) simulation in MuJoCo.

Usage

Install openarm-mujoco:

pip install openarm-mujoco

Launch the simulation:

openarm-mujoco-launch

Without White Sheet:

openarm-mujoco-launch --no-sheet

With Wall Collisions:

openarm-mujoco-launch --walls

OpenArm MuJoCo Web

OpenArm MuJoCo Web runs these models right in the browser (MuJoCo WASM + three.js, no installation): open https://enactic.github.io/openarm_mujoco/, or serve the repository root locally (npm run serve in web/) and open http://localhost:8080/. Drive the arms by keyboard or sliders; see web/README.md for details.

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

Related links

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

Pull request and preview

You can enable preview on your fork by the following:

1. Enable GitHub Pages on your fork:
   1. Open https://github.com/${YOUR_GITHUB_ACCOUNT}/openarm_mujoco/settings/pages
   2. Select "GitHub Actions" as "Source"
2. Accept publishing GitHub Pages from all branches on your fork:
   1. Open https://github.com/${YOUR_GITHUB_ACCOUNT}/openarm_mujoco/settings/environments
   2. Select the "github-pages" environment
   3. Change the default "Deployment branches and tags" rule:
      1. Press the "Edit" button
      2. Change the "Name pattern" to * from main

You can preview your changes at https://${YOUR_GITHUB_ACCOUNT}.github.io/openarm_mujoco/ .

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.