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LinearBot
Bimanual mobile manipulator: two i2RT YAM arms with linear grippers on a lift column / holonomic mobile base.
Contents
Everything lives under robots/linearbot/:
| file | purpose |
|---|---|
linearbot_holobase.xml |
MuJoCo model (30 bodies, 20 actuators) |
linearbot_holobase.urdf |
URDF |
curobo_config/urdf/linearbot_curobo.urdf |
URDF used by CuRobo |
curobo_config/linearbot_custom.yml |
CuRobo config (both arms free) |
curobo_config/linearbot_custom_lockL.yml / _lockR.yml |
left / right arm locked |
assets/ |
meshes (self-contained) |
Arms
Both arms are identical (not mirrored), with correct color, mass and inertia.
Joint limits (same for both arms):
| joint | range | joint | range | |
|---|---|---|---|---|
| joint1 | -2.61799 … 3.05433 | joint4 / joint5 | -1.5708 … 1.5708 | |
| joint2 / joint3 | 0 … 3.66519 | joint6 | -2.0944 … 2.0944 | |
| joint7 / joint8 | -0.0485 … 0 |
Arm spacing: arm_base x = ±0.271 from center.
Lift: 0 = bottom, 1.06 = top
lift_joint range is [0, 1.06] with q = 0 near the bottom and q = 1 near the
top. Align with the real robot.
Usage
Private dataset — authenticate first:
hf auth login
hf download TreeePlanter/linearbot-assets --repo-type dataset --local-dir .
python -m mujoco.viewer --mjcf=robots/linearbot/linearbot_holobase.xml
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