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

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

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.