对应视频教程:
https://www.youtube.com/watch?v=j1nCeqtfySQ
https://www.bilibili.com/video/BV14q4y187JN/
对应的资源请到:tinycc/mujoco 下载
本期内容主要是基本的Mujoco操作,包括更改属性,增加新对象等
MuJoCo: viewing xml files
• xml files: model and visualization
• In bin folder run ./simulate (mac/linux) or simulate (win)
• Drag and drop hello.xml from model folder
• Use the MuJoCo XML documentation to edit .xml files;
https://mujoco.readthedocs.io/en/latest/overview.html
Click “XML reference”. Bookmark this page.
• We will modify hello.xml using XML reference
本教程最后对应的xml文件
···xml
<visual>
<headlight ambient="0.5 0.5 0.5" />
</visual>
<asset>
<material name="white" rgba="1 1 1 1" />
</asset>
<option gravity="0 0 -9.81" />
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" size="1 1 0.1" rgba="0 .9 0 1"/>
<body pos="0 0 1" euler="0 0 0">
<joint type="free"/>
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
<geom type="box" size=".1 .2 .3" rgba=".9 0 0 1"/>
<!-- COmment -->
<!--geom type="box" size=".1 .2 .3" material="white"/-->
</body>
<body pos="0 0 1.5" euler="0 1.57 0">
<joint type="free"/>
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
<geom type="box" size=".1 .2 .3" rgba="0 0 .9 1"/>
</body>
<body pos="0.3 0 1.8" euler="0 1.57 0">
<joint type="free"/>
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
<geom type="sphere" size=".1" rgba=".5 .5 .5 1"/>
</body>
</worldbody>