> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# MuJoCo Simulation Example

> [!WARNING]
>
> MuJoCo Sim is archived. The documentation stays readable but is no longer updated. For model assets and loading steps, see the hardware and software integration guides for [Wuji Hand 2.2](https://docs.wuji.tech/docs/en/wuji-hand/latest/hardware-integration.md#get-and-load), [Wuji Hand 2.1](https://docs.wuji.tech/docs/en/wuji-hand/beta1/hardware-integration#get-and-load), and [Wuji Glove](https://docs.wuji.tech/docs/en/wuji-glove/latest/model-integration.md#get-and-load).

[mujoco-sim](https://github.com/wuji-technology/mujoco-sim) provides a minimal example for loading and controlling Wuji Hand in the MuJoCo physics simulator.

## Run Commands

```bash theme={null}
git clone --recursive https://github.com/wuji-technology/mujoco-sim.git
cd mujoco-sim
pip install -r requirements.txt
python run_sim.py
```

## Expected Result

The script loads the right-hand model (default) and loops through the pre-recorded waving motion trajectory in `data/wave.npy`. To switch to the left hand, change the `side` variable in `run_sim.py` to `"left"`.


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