OpenArm mjlab

PPO manipulation tasks for the OpenArm bimanual robot, built on mjlab (MuJoCo Warp + RSL-RL).

Tasks

Choose a task from the table below and use its Task Name as the first argument to openarm-mjlab-train or openarm-mjlab-play.

Task Description	Task Name	Demo
Reach a target position with the right gripper.	OpenArm-Reach
Grip a block with the right arm, lift it, and hold it above the table.	OpenArm-Lift
Grip both ends of a bar and lift it using both arms together.	OpenArm-BimanualLift
Pick the orange cube from the table with the left arm and place it in the black tray in the full OpenArm Cell scene. The right arm and lifter stay at home.	OpenArm-PickPlace
Push a puck into the goal area and leave it there. The Vision variant uses overhead depth-camera observations instead of privileged puck-position observations.	OpenArm-Puck OpenArm-Puck-Vision
Grasp the handle and swing the door open.	OpenArm-Door
Grasp the handle and pull the drawer open.	OpenArm-Drawer
Grasp the lever and turn the valve.	OpenArm-Valve

Setup

git clone git@github.com:enactic/openarm_mjlab.git
cd openarm_mjlab
uv sync

Train

Real training needs a Linux machine with a CUDA GPU:

uv run openarm-mjlab-train OpenArm-PickPlace \
  --env.scene.num-envs 4096 \
  --env.viewer.height 480 \
  --env.viewer.max-extra-envs 0 \
  --env.viewer.width 640 \
  --video True

CPU smoke test (e.g. on macOS):

CUDA_VISIBLE_DEVICES= uv run openarm-mjlab-train OpenArm-PickPlace \
  --env.scene.num-envs 4 \
  --agent.max-iterations 2

Play a checkpoint

uv run openarm-mjlab-play OpenArm-PickPlace --checkpoint-file <path/to/checkpoint>

Measure a success rate

uv run openarm-mjlab-eval OpenArm-PickPlace

Rolls out one episode per environment and reports the fraction that reach the task's success termination, alongside the rate of every other termination term. Defaults to the latest checkpoint for the task and 256 episodes; pass --checkpoint and --num-envs to change either. When a task has more than one candidate success condition, name it explicitly with --success-term.

Tests

uv run pytest

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.