If there is any tutorials/examples about robotic control task like grasp/lift etc with mujoco?

[calmdw]

Intro

Hi!

I am a graduate from DTU, I use MuJoCo for my research on cable-driven continuous robot control.

My setup

Mujoco, python

My question

If there are any tutorials/examples about robotic control task like grasp/lift etc with mujoco? The current tutorial in the colab seems like one useful manual but not the full pipeline tutorial.

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.