mjcf_gymnasium_hopper

mjcf_gymnasium_hopper example

Loads the Gymnasium Hopper MuJoCo XML asset through raisim::World and publishes it through raisim::RaisimServer. This example replaces the former minimal hinge example with a floating-base model that has slide, hinge, capsule, plane, default, material, and actuator sections in the source MJCF.

Run:

<raisim-install>/bin/mjcf_gymnasium_hopper

Start rayrai_tcp_viewer in another terminal to visualize the server scene.

What it demonstrates:

  • Loading rsc/mjcf/gymnasium/hopper.xml with raisim::World.

  • Retrieving the loaded articulated system by its MJCF root body name.

  • Applying a small procedural torque pattern through the normal RaiSim control path.