dora-openarm-mujoco 0.1.0__tar.gz

dora_openarm_mujoco-0.1.0/LICENSE

@@ -0,0 +1,202 @@
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dora_openarm_mujoco-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: dora-openarm-mujoco
+Version: 0.1.0
+Summary: dora-rs node that simulates OpenArm bimanual robot in MuJoCo
+Author: Enactic, Inc.
+Maintainer: Enactic, Inc.
+License: Apache-2.0
+Project-URL: Changelog, https://github.com/enactic/dora-openarm-mujoco/releases
+Project-URL: Issues, https://github.com/enactic/dora-openarm-mujoco/issues
+Project-URL: Repository, https://github.com/enactic/dora-openarm-mujoco
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: dora-rs==0.5.0
+Requires-Dist: mujoco>=3.6.0
+Requires-Dist: numpy
+Requires-Dist: openarm-mujoco
+Requires-Dist: opencv-python
+Requires-Dist: scipy
+Dynamic: license-file
+
+# dora-openarm-mujoco
+
+MuJoCo simulation node for the [OpenArm](https://github.com/enactic/openarm_mujoco) bimanual robot, designed to run inside a [dora-rs](https://github.com/dora-rs/dora) 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
+
+```bash
+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.
+
+```bash
+uv run dora build dataflow-dummy.yaml --uv
+uv run dora run dataflow-dummy.yaml
+```
+
+![Example](media/example.png)
+
+## Dataflow configuration
+
+### Minimal (headless and position forwarding only no cameras)
+
+```yaml
+- 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)
+
+```yaml
+- 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](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_mujoco-0.1.0/README.md

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+# dora-openarm-mujoco
+
+MuJoCo simulation node for the [OpenArm](https://github.com/enactic/openarm_mujoco) bimanual robot, designed to run inside a [dora-rs](https://github.com/dora-rs/dora) 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
+
+```bash
+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.
+
+```bash
+uv run dora build dataflow-dummy.yaml --uv
+uv run dora run dataflow-dummy.yaml
+```
+
+![Example](media/example.png)
+
+## Dataflow configuration
+
+### Minimal (headless and position forwarding only no cameras)
+
+```yaml
+- 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)
+
+```yaml
+- 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](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_mujoco-0.1.0/pyproject.toml

@@ -0,0 +1,49 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "dora-openarm-mujoco"
+version = "0.1.0"
+authors = [{name = "Enactic, Inc."}]
+description = "dora-rs node that simulates OpenArm bimanual robot in MuJoCo"
+license = {text = "Apache-2.0"}
+maintainers = [{name = "Enactic, Inc."}]
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "dora-rs==0.5.0",
+    "mujoco>=3.6.0",
+    "numpy",
+    "openarm-mujoco",
+    "opencv-python",
+    "scipy",
+]
+
+[project.scripts]
+dora-openarm-mujoco = "dora_openarm_mujoco:cli_main"
+
+[project.urls]
+Changelog = "https://github.com/enactic/dora-openarm-mujoco/releases"
+Issues = "https://github.com/enactic/dora-openarm-mujoco/issues"
+Repository = "https://github.com/enactic/dora-openarm-mujoco"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+
+[tool.setuptools.packages.find]
+where = ["src"]

dora_openarm_mujoco-0.1.0/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

dora_openarm_mujoco-0.1.0/src/dora_openarm_mujoco/__init__.py

@@ -0,0 +1,17 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dora_openarm_mujoco.main import cli_main, main
+
+__all__ = ["cli_main", "main"]

dora_openarm_mujoco-0.1.0/src/dora_openarm_mujoco/_draw.py

@@ -0,0 +1,64 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import mujoco
+import numpy as np
+from scipy.spatial.transform import Rotation
+
+
+def draw_arrow(
+    scn, direction: np.ndarray, origin: np.ndarray, color: tuple, size: float
+) -> None:
+    if scn.ngeom >= scn.maxgeom:
+        return
+    z = direction / (np.linalg.norm(direction) + 1e-9)
+    x = np.array([1.0, 0.0, 0.0])
+    if abs(np.dot(z, x)) > 0.99:
+        x = np.array([0.0, 1.0, 0.0])
+    y = np.cross(z, x)
+    y /= np.linalg.norm(y)
+    x = np.cross(y, z)
+    arrow_mat = np.stack([x, y, z], axis=1)
+    center = origin + direction * size / 2
+    g = scn.geoms[scn.ngeom]
+    mujoco.mjv_initGeom(
+        g,
+        mujoco.mjtGeom.mjGEOM_ARROW,
+        np.array([0.005, 0.005, size]),
+        center,
+        arrow_mat.flatten(),
+        np.array(color, dtype=np.float32),
+    )
+    g.size[:] = [0.005, 0.005, size]
+    g.pos[:] = center
+    g.mat[:] = arrow_mat
+    scn.ngeom += 1
+
+
+def draw_world_frame(scn, size: float = 0.3) -> None:
+    draw_arrow(scn, np.array([1.0, 0.0, 0.0]), np.zeros(3), (1.0, 0.1, 0.1, 1.0), size)
+    draw_arrow(scn, np.array([0.0, 1.0, 0.0]), np.zeros(3), (0.1, 0.8, 0.1, 1.0), size)
+    draw_arrow(scn, np.array([0.0, 0.0, 1.0]), np.zeros(3), (0.1, 0.3, 1.0, 1.0), size)
+
+
+def draw_frame(scn, pose: np.ndarray, size: float = 0.08) -> None:
+    """Draw the pose of a VR controller as a coordinate frame."""
+    if pose is None:
+        return
+    pos = pose[:3]
+    rot = Rotation.from_quat([pose[4], pose[5], pose[6], pose[3]])  # xyzw
+    mat = rot.as_matrix()
+    draw_arrow(scn, mat[:, 0], pos, (1.0, 0.1, 0.1, 1.0), size)  # X (Red)
+    draw_arrow(scn, mat[:, 1], pos, (0.1, 0.8, 0.1, 1.0), size)  # Y (Green)
+    draw_arrow(scn, mat[:, 2], pos, (0.1, 0.3, 1.0, 1.0), size)  # Z (Blue)