Server Example: MJCF Gymnasium Hopper

Overview

Loads the Gymnasium Hopper MuJoCo XML asset through raisim::World and publishes it through raisim::RaisimServer. The planar model's root moves on two slide joints and one hinge, and the source MJCF uses capsule geoms, a plane, defaults, materials, and actuators.

Target

CMake target: mjcf_gymnasium_hopper.

Run

Run the build-tree executable:

./build-examples/examples/mjcf_gymnasium_hopper

On Windows, run mjcf_gymnasium_hopper.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

• Loads rsc/mjcf/gymnasium/hopper.xml with the raisim::World constructor and prints the DOF, generalized-coordinate dimension, and collision-body count.
• Retrieves the loaded articulated system by its MJCF root body name (torso).
• Applies a small sinusoidal torque pattern to the leg joints in FORCE_AND_TORQUE control mode.