Server Example: MJCF Gymnasium Walker2d

Overview

Loads the Gymnasium Walker2d MuJoCo XML asset through raisim::World and publishes it through raisim::RaisimServer. Its links touch the floor but not each other, as in MuJoCo: their geoms have conaffinity="0" and the floor conaffinity="1".

Target

CMake target: mjcf_gymnasium_walker2d.

Run

Run the build-tree executable:

./build-examples/examples/mjcf_gymnasium_walker2d

On Windows, run mjcf_gymnasium_walker2d.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

• Loads rsc/mjcf/gymnasium/walker2d.xml with the raisim::World constructor and retrieves the articulated system by its root body name (torso).
• Handles a multi-link MJCF articulated system with contact-enabled geoms.
• Applies a small sinusoidal torque pattern to the non-root joints in FORCE_AND_TORQUE control mode.