> ## 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 仿真示例

> [!WARNING]
>
> MuJoCo Sim 已归档，文档仍可访问，内容不再更新。模型资源与加载方式见 [Wuji Hand 2.2](https://docs.wuji.tech/docs/zh/wuji-hand/latest/hardware-integration.md#获取与加载)、[Wuji Hand 2.1](https://docs.wuji.tech/docs/zh/wuji-hand/beta1/hardware-integration#获取与加载)和 [Wuji Glove](https://docs.wuji.tech/docs/zh/wuji-glove/latest/model-integration.md#获取与加载)的软硬件集成文档。

[mujoco-sim](https://github.com/wuji-technology/mujoco-sim) 提供了在 MuJoCo 物理仿真器中加载和控制 Wuji Hand 的最小示例。

## 运行命令

```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
```

## 预期效果

脚本启动后将加载右手模型（默认），循环播放 `data/wave.npy` 中预录制的挥手动作轨迹。如需切换为左手，修改 `run_sim.py` 中的 `side` 变量为 `"left"`。


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