Server Example: MJCF Gymnasium Humanoid

Overview

Loads the Gymnasium Humanoid MuJoCo XML asset through raisim::World and publishes it through raisim::RaisimServer. The humanoid starts in a nonzero joint configuration with its base about 1 m above the standing pose and then drops under gravity with zero applied generalized force.

Target

CMake target: mjcf_gymnasium_humanoid.

Run

Run the build-tree executable:

./build-examples/examples/mjcf_gymnasium_humanoid

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

Details

• Loads rsc/mjcf/gymnasium/humanoid.xml with the raisim::World constructor and retrieves the articulated system by its root body name (torso).
• Handles a larger MJCF articulated system with a free root and many child bodies.
• Sets an initial free-root pose and a nonzero joint configuration before dropping the model under gravity.