mjcf_gymnasium_humanoid

mjcf_gymnasium_humanoid example

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

Run:

<raisim-install>/bin/mjcf_gymnasium_humanoid

Start rayrai_tcp_viewer in another terminal to visualize the server scene.

What it demonstrates:

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

  • Handling a larger MJCF articulated system with a free root and many child bodies.

  • Setting an initial free-root pose and nonzero joint configuration before dropping the model under gravity.