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How to run the bundled ballistic soccer MuJoCo simulation with Code as World

Render a soccer-kick trajectory from the video-driven abstraction example in a few commands.

  • Research
  • Intermediate
  • 30 minutes
  • From the README
  • Any agent

Who it is forA student or robotics or physics hobbyist who wants to see how Code as World turns a physical scene into an executable simulation.

The problemIt is hard to tell what an executable world representation looks like until you run one on a concrete physical case.

The outcomeA rendered video and trajectory file written to outputs/simulations/, or only the trajectory if you skip rendering.

What you need first

  • Python 3.10 or 3.11
  • A CUDA host for the checkpoints
  • git and the hf CLI to clone repos and download weights
  • Disk space and network access for the 4B and 9B weights and the QuantiPhy validation videos

Steps

  1. Clone the repo with git clone https://github.com/MirroS-Lab/Code-as-World.git and run cd Code-as-World.
  2. Create an environment with python -m venv .venv, activate it with source .venv/bin/activate, and install the simulation requirements with pip install -r requirements/simulation.txt.
  3. Run the bundled case with python -m code_as_world.simulation.
  4. For a trajectory without rendering, run python -m code_as_world.simulation --no-render.

Prompt for your agent

In the Code-as-World repo at <repo_path>, install requirements/simulation.txt and run `python -m code_as_world.simulation` to execute the bundled ballistic soccer case. Expect a rendered video and trajectory in outputs/simulations/; verify both files exist and that the trajectory file is non-empty.

Caveat. The README only documents this one bundled soccer case, so it does not show how to build new executable world representations for other scenes.

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