geodude_assets

MuJoCo models for the Geodude bimanual robot.

Installation

uv add geodude_assets

Or from source:

git clone https://github.com/personalrobotics/geodude_assets.git
cd geodude_assets
uv sync

Quick Start

import mujoco
from geodude_assets import get_model_path

# Load the Geodude robot
model = mujoco.MjModel.from_xml_path(str(get_model_path()))
data = mujoco.MjData(model)

# Reset to ready pose
ready_key = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_KEY, "ready")
mujoco.mj_resetDataKeyframe(model, data, ready_key)

# Step simulation
mujoco.mj_step(model, data)

View the robot in MuJoCo's interactive viewer:

uv run python -m mujoco.viewer --mjcf="$(uv run python -c 'from geodude_assets import get_model_path; print(get_model_path())')"

Collision Viewer

An interactive collision viewer is available to visualize collision geometry and contact detection:

uv run python -u examples/view_collisions.py

• Use joint sliders to move the robot (Tab to show/hide control panel)
• Colliding bodies turn red
• Press 0 to toggle collision geometry visibility
• Press C to toggle contact point visualization
• Press Backspace to reset (or R if using mjpython)

Note on macOS: The viewer automatically falls back to blocking mode when using uv's Python. For non-blocking mode with launch_passive, you need a "framework" Python build (e.g., from Homebrew or python.org) and can run: mjpython examples/view_collisions.py

Swapping End Effectors

The default Geodude model has Robotiq 2F-140 grippers on both arms. To use different end effectors (e.g., Ability Hands), use the assembly module:

uv sync --extra assembly

Python API

from geodude_assets.assembly import attach_arms_to_vention

# Robotiq grippers on both arms (default)
model = attach_arms_to_vention(
    save_file=False,
    dir=".",
    filename="geodude.xml",
    left_gripper_type="2f140",
    right_gripper_type="2f140",
)

# Ability Hands on both arms
model = attach_arms_to_vention(
    save_file=False,
    dir=".",
    filename="geodude.xml",
    left_gripper_type="abhl",
    right_gripper_type="abhr",
)

# Mixed: Ability Hand on left, Robotiq on right
model = attach_arms_to_vention(
    save_file=False,
    dir=".",
    filename="geodude.xml",
    left_gripper_type="abhl",
    right_gripper_type="2f140",
)

# No grippers (bare UR5e arms)
model = attach_arms_to_vention(
    save_file=False,
    dir=".",
    filename="geodude.xml",
    left_gripper_type=None,
    right_gripper_type=None,
)

Command Line

# Generate and save a custom configuration
uv run python -m geodude_assets.assembly --save-mjcf -d ./output -l abhl -r 2f140

Available End Effectors

Type	Description
2f140	Robotiq 2F-140 parallel jaw gripper
abhl	Psyonic Ability Hand (left)
abhr	Psyonic Ability Hand (right)
None	No gripper (bare UR5e wrist)

Robot Configuration

The Geodude robot consists of:

• Vention frame with vertical linear rails (enclosed lead screw actuators)
• Two UR5e arms mounted on the linear rails
• End effectors on each arm (configurable)
• Worktop - a named site marking the usable work surface

Named Sites

Site	Position	Size	Description
worktop	(0, -0.35, 0.755)	1.2m × 0.8m	Usable work surface on the Vention base

The worktop site is visualized as a semi-transparent green box and can be used by planners to define placement regions:

import mujoco
from geodude_assets import get_model_path

model = mujoco.MjModel.from_xml_path(str(get_model_path()))
site_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SITE, "worktop")
worktop_pos = model.site_pos[site_id]   # [0, -0.35, 0.755]
worktop_size = model.site_size[site_id]  # [0.6, 0.4, 0.005] (half-extents)

Actuators

Actuator	Range	Description
left_linear_actuator	0-0.5m	Left arm vertical position (0=bottom, 0.5=top)
right_linear_actuator	0-0.5m	Right arm vertical position
left_ur5e/shoulder_pan	±π	Left arm joint 1
left_ur5e/shoulder_lift	±π	Left arm joint 2
left_ur5e/elbow	±π	Left arm joint 3
left_ur5e/wrist_1	±π	Left arm joint 4
left_ur5e/wrist_2	±π	Left arm joint 5
left_ur5e/wrist_3	±π	Left arm joint 6
right_ur5e/...	...	Right arm joints (same as left)
left_ur5e/gripper/fingers_actuator	0-255	Left gripper (0=open, 255=closed)
right_ur5e/gripper/fingers_actuator	0-255	Right gripper

Force/Torque Sensors

Each UR5e arm has a simulated 6-axis force/torque sensor at the tool flange, matching the built-in sensor on the real robot.

Sensor	Output	Description
left_ur5e/ft_sensor_force	Fx, Fy, Fz	Force at left tool flange (Newtons)
left_ur5e/ft_sensor_torque	Tx, Ty, Tz	Torque at left tool flange (Nm)
right_ur5e/ft_sensor_force	Fx, Fy, Fz	Force at right tool flange (Newtons)
right_ur5e/ft_sensor_torque	Tx, Ty, Tz	Torque at right tool flange (Nm)

Coordinate Frame (tool0): Z+ points out of the flange (toward the tool), X+ points left, Y+ points up.

import mujoco
from geodude_assets import get_model_path

model = mujoco.MjModel.from_xml_path(str(get_model_path()))
data = mujoco.MjData(model)

# Get sensor IDs
force_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, "right_ur5e/ft_sensor_force")
torque_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, "right_ur5e/ft_sensor_torque")

# Step simulation
mujoco.mj_step(model, data)

# Read sensor values
force_adr = model.sensor_adr[force_id]
torque_adr = model.sensor_adr[torque_id]
force = data.sensordata[force_adr:force_adr + 3]   # [Fx, Fy, Fz]
torque = data.sensordata[torque_adr:torque_adr + 3]  # [Tx, Ty, Tz]

Available Models

Model	Description
geodude	Full robot: two UR5e arms on Vention base with Robotiq 2F-140 grippers
universal_robots_ur5e	Single UR5e arm
robotiq_2f140	Robotiq 2F-140 parallel jaw gripper
vention	Vention aluminum frame base with linear rails
abh_left_small	Psyonic Ability Hand (left, small)
abh_right_small	Psyonic Ability Hand (right, small)

Load individual component models:

from geodude_assets import get_model_path

ur5e_path = get_model_path("universal_robots_ur5e")
gripper_path = get_model_path("robotiq_2f140")

Development

uv sync --dev

# Lint
uv run ruff check .
uv run ruff format .

# Test
uv run pytest

Regenerating the Geodude Model

To regenerate the default geodude model after modifying component XMLs:

uv sync --extra assembly
uv run python -m geodude_assets.assembly --save-mjcf -d src/geodude_assets/models/geodude -l 2f140 -r 2f140

Note: The assembly module uses dm_control.mjcf. The pyproject.toml includes a uv override to exclude labmaze (which requires Bazel to build) since it's not needed for MJCF model assembly.

License

MIT