yunhaoqian/mujin-openrave repository overview

⁠OpenRAVE Robot Conversion and Management Service

A small HTTP service for managing robots supported by OpenRAVE. Uploaded robot files are converted to canonical JSON and can then be listed, inspected, renamed, previewed, downloaded, or deleted.

⁠Run

This image targets linux/amd64. On Apple Silicon, Docker Desktop with Rosetta support is recommended.

docker pull --platform linux/amd64 \
  yunhaoqian/mujin-openrave:latest

mkdir -p data

docker run --rm --platform linux/amd64 \
  --publish 8080:8080 \
  --mount type=bind,source="$(pwd)/data",target=/data/robots \
  yunhaoqian/mujin-openrave:latest

The API is available at http://localhost:8080. Robot JSON documents and generated previews persist in the host data directory.

⁠Upload a robot

curl --fail-with-body \
  --form file=@/path/to/robot.zae \
  http://localhost:8080/api/robot

The original upload is converted to JSON and is not retained.

The server runs with one Gunicorn worker. Multiple workers are not supported because file mutations are not coordinated across processes.