mjcf_gymnasium_walker2d

mjcf_gymnasium_walker2d example

Loads the Gymnasium Walker2d MuJoCo XML asset through raisim::World and runs it through raisim::RaisimServer. The vendored Walker2d XML keeps the Gymnasium model structure but enables the default geom collision affinity so RaiSim creates collision bodies for the articulated links.

Run:

<raisim-install>/bin/mjcf_gymnasium_walker2d

Start rayrai_tcp_viewer in another terminal to visualize the server scene.

What it demonstrates:

  • Loading rsc/mjcf/gymnasium/walker2d.xml with raisim::World.

  • Handling a multi-link MJCF articulated system with contact-enabled geoms.

  • Applying a small procedural torque pattern to the non-root joints.