mujoco-sim

Simulation demo for MuJoCo. This repository provides a minimal example for loading and controlling the Wuji Hand in MuJoCo simulator. Loads MJCF models from the description submodule and plays pre-recorded trajectories in a loop.

Get started with Quick Start. For detailed documentation, please refer to MuJoCo Simulation Example on Wuji Docs Center.

video.mp4

Repository Structure

├── assets/                    // Demo video files
│   └── video.mp4
├── data/                      // Pre-recorded trajectory data
│   └── wave.npy
├── wuji_hand_description/     // Submodule: hand model (MJCF, meshes)
├── run_sim.py                 // Main simulation script
├── requirements.txt           // Python dependencies
└── README.md

Quick Start

Prerequisites

• Python 3.8+

Installation

git clone --recursive https://github.com/wuji-technology/mujoco-sim.git
cd mujoco-sim
pip install -r requirements.txt

Running

python run_sim.py

The script loads the default right-hand model and plays the trajectory from data/wave.npy in a loop. To use the left hand, edit side = "left" in run_sim.py.

Update Models

To update hand models to the latest version:

git submodule update --remote

Contact

For any questions, please contact support@wuji.tech.