Mujoco-小球建模与控制

Feisy

已于 2022-02-09 17:22:48 修改

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分类专栏： Mujoco 文章标签： Mujoco

于 2022-02-08 20:42:31 首次发布

本文链接：https://blog.csdn.net/feisy/article/details/122830795

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视频教程：

https://www.bilibili.com/video/BV1e44y1H7Mn/

资源请到tiny.cc/mujoco下载

涉及内容

本次课程制作了一个简单的小球模型,然后对小球进行简单的模拟，并演示了一些参数的作用。

小球模型：

<mujoco>
  <worldbody>
        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
    <geom type="plane" size="10 1 0.1" rgba=".9 0 0 1"/>
    <body pos="0 0 1">
      <joint type="free"/>
      <geom type="sphere" size=".1" rgba="0 .9 0 1"/>
    </body>
  </worldbody>
</mujoco>

然后通过c代码来演示相机的一些设置，小球位置和速度的设置,给小球施drag force等，c代码如下：



#include<stdbool.h> //for bool
//#include<unistd.h> //for usleep
#include<math.h>

#include "mujoco.h"
#include "glfw3.h"
#include "stdio.h"
#include "stdlib.h"
#include "string.h"


char filename[] = "../myproject/projectile/ball.xml";

// MuJoCo data structures
mjModel* m = NULL;                  // MuJoCo model
mjData* d = NULL;                   // MuJoCo data
mjvCamera cam;                      // abstract camera
mjvOption opt;                      // visualization options
mjvScene scn;                       // abstract scene
mjrContext con;                     // custom GPU context

// mouse interaction
bool button_left = false;
bool button_middle = false;
bool button_right =  false;
double lastx = 0;
double lasty = 0;

// holders of one step history of time and position to calculate dertivatives
mjtNum position_history = 0;
mjtNum previous_time = 0;

// controller related variables
float_t ctrl_update_freq = 100;
mjtNum last_update = 0.0;
mjtNum ctrl;

// keyboard callback
void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods)
{
    // backspace: reset simulation
    if( act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE )
    {
        mj_resetData(m, d);
        mj_forward(m, d);
    }
}

// mouse button callback
void mouse_button(GLFWwindow* window, int button, int act, int mods)
{
    // update button state
    button_left =   (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
    button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
    button_right =  (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);

    // update mouse position
    glfwGetCursorPos(window, &lastx, &lasty);
}


// mouse move callback
void mouse_move(GLFWwindow* window, double xpos, double ypos)
{
    // no buttons down: nothing to do
    if( !button_left && !button_middle && !button_right )
        return;

    // compute mouse displacement, save
    double dx = xpos - lastx;
    double dy = ypos - lasty;
    lastx = xpos;
    lasty = ypos;

    // get current window size
    int width, height;
    glfwGetWindowSize(window, &width, &height);

    // get shift key state
    bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
                      glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);

    // determine action based on mouse button
    mjtMouse action;
    if( button_right )
        action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
    else if( button_left )
        action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
    else
        action = mjMOUSE_ZOOM;

    // move camera
    mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
}


// scroll callback
void scroll(GLFWwindow* window, double xoffset, double yoffset)
{
    // emulate vertical mouse motion = 5% of window height
    mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
}


// main function
int main(int argc, const char** argv)
{

    // activate software
    mj_activate("mjkey.txt");


    // load and compile model
    char error[1000] = "Could not load binary model";

    // check command-line arguments
    if( argc<2 )
        m = mj_loadXML(filename, 0, error, 1000);

    else
        if( strlen(argv[1])>4 && !strcmp(argv[1]+strlen(argv[1])-4, ".mjb") )
            m = mj_loadModel(argv[1], 0);
        else
            m = mj_loadXML(argv[1], 0, error, 1000);
    if( !m )
        mju_error_s("Load model error: %s", error);

    // make data
    d = mj_makeData(m);


    // init GLFW
    if( !glfwInit() )
        mju_error("Could not initialize GLFW");

    // create window, make OpenGL context current, request v-sync
    GLFWwindow* window = glfwCreateWindow(1244, 700, "Demo", NULL, NULL);
    glfwMakeContextCurrent(window);
    glfwSwapInterval(1);

    // initialize visualization data structures
    mjv_defaultCamera(&cam);
    mjv_defaultOption(&opt);
    mjv_defaultScene(&scn);
    mjr_defaultContext(&con);
    mjv_makeScene(m, &scn, 2000);                // space for 2000 objects
    mjr_makeContext(m, &con, mjFONTSCALE_150);   // model-specific context

    // install GLFW mouse and keyboard callbacks
    glfwSetKeyCallback(window, keyboard);
    glfwSetCursorPosCallback(window, mouse_move);
    glfwSetMouseButtonCallback(window, mouse_button);
    glfwSetScrollCallback(window, scroll);

    double arr_view[] = {90,-45, 4, 0.000000, 0.000000, 0.000000};
    cam.azimuth = arr_view[0];
    cam.elevation = arr_view[1];
    cam.distance = arr_view[2];
    cam.lookat[0] = arr_view[3];
    cam.lookat[1] = arr_view[4];
    cam.lookat[2] = arr_view[5];

    //m->opt.gravity[2]=-1;
    //qpos is dim nqx1 = 7x1; 3 translations + 4 quaternions
    d->qpos[2]=0.1;
    d->qvel[2]=5;
    d->qvel[0]=2;
    // use the first while condition if you want to simulate for a period.
    while( !glfwWindowShouldClose(window))
    {
        // advance interactive simulation for 1/60 sec
        //  Assuming MuJoCo can simulate faster than real-time, which it usually can,
        //  this loop will finish on time for the next frame to be rendered at 60 fps.
        //  Otherwise add a cpu timer and exit this loop when it is time to render.
        mjtNum simstart = d->time;
        while( d->time - simstart < 1.0/60.0 )
        {
            mj_step(m, d);

            //drag force = -c*v^2*unit_vector(v); v = sqrt(vx^2+vy^2+vz^2)
            // vector (v) = vx i + vy j + vz k
            //unit_vector(v) = vector(v)/v
            //fx = -c*v*vx;
            //fy = -c*v*vy;
            //fz = -c*v*vz;
            double vx, vy, vz;
            vx = d->qvel[0]; vy = d->qvel[1]; vz = d->qvel[2];
            double v;
            v = sqrt(vx*vx+vy*vy+vz*vz);
            double fx, fy, fz;
            double c = 1;
            fx = -c*v*vx;
            fy = -c*v*vy;
            fz = -c*v*vz;
            d->qfrc_applied[0]=fx;
            d->qfrc_applied[1]=fy;
            d->qfrc_applied[2]=fz;
        }

       // get framebuffer viewport
        mjrRect viewport = {0, 0, 0, 0};
        glfwGetFramebufferSize(window, &viewport.width, &viewport.height);

          // update scene and render
        opt.frame = mjFRAME_WORLD;
        cam.lookat[0] = d->qpos[0];
        mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
        mjr_render(viewport, &scn, &con);
        //printf("{%f, %f, %f, %f, %f, %f};\n",cam.azimuth,cam.elevation, cam.distance,cam.lookat[0],cam.lookat[1],cam.lookat[2]);

        // swap OpenGL buffers (blocking call due to v-sync)
        glfwSwapBuffers(window);

        // process pending GUI events, call GLFW callbacks
        glfwPollEvents();

    }

    // free visualization storage
    mjv_freeScene(&scn);
    mjr_freeContext(&con);

    // free MuJoCo model and data, deactivate
    mj_deleteData(d);
    mj_deleteModel(m);
    mj_deactivate();

    // terminate GLFW (crashes with Linux NVidia drivers)
    #if defined(__APPLE__) || defined(_WIN32)
        glfwTerminate();
    #endif

    return 1;
}

窗口的键盘和鼠标事件绑定：


// keyboard callback
void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods)
{
    // backspace: reset simulation
    if( act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE )
    {
        mj_resetData(m, d);
        mj_forward(m, d);
    }
}

// mouse button callback
void mouse_button(GLFWwindow* window, int button, int act, int mods)
{
    // update button state
    button_left =   (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
    button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
    button_right =  (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);

    // update mouse position
    glfwGetCursorPos(window, &lastx, &lasty);
}


// mouse move callback
void mouse_move(GLFWwindow* window, double xpos, double ypos)
{
    // no buttons down: nothing to do
    if( !button_left && !button_middle && !button_right )
        return;

    // compute mouse displacement, save
    double dx = xpos - lastx;
    double dy = ypos - lasty;
    lastx = xpos;
    lasty = ypos;

    // get current window size
    int width, height;
    glfwGetWindowSize(window, &width, &height);

    // get shift key state
    bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
                      glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);

    // determine action based on mouse button
    mjtMouse action;
    if( button_right )
        action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
    else if( button_left )
        action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
    else
        action = mjMOUSE_ZOOM;

    // move camera
    mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
}


// scroll callback
void scroll(GLFWwindow* window, double xoffset, double yoffset)
{
    // emulate vertical mouse motion = 5% of window height
    mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
}

c中怎么加载xml模型

 // load and compile model
    char error[1000] = "Could not load binary model";

    // check command-line arguments
    if( argc<2 )
        m = mj_loadXML(filename, 0, error, 1000);

    else
        if( strlen(argv[1])>4 && !strcmp(argv[1]+strlen(argv[1])-4, ".mjb") )
            m = mj_loadModel(argv[1], 0);
        else
            m = mj_loadXML(argv[1], 0, error, 1000);
    if( !m )
        mju_error_s("Load model error: %s", error);

    // make data
    d = mj_makeData(m);

相机视角的旋转和聚焦点：azimuth 是旋转参数，lookat是聚焦点

    double arr_view[] = {90,-45, 4, 0.000000, 0.000000, 0.000000};
    cam.azimuth = arr_view[0];
    cam.elevation = arr_view[1];
    cam.distance = arr_view[2];
    cam.lookat[0] = arr_view[3];
    cam.lookat[1] = arr_view[4];
    cam.lookat[2] = arr_view[5];

如果我们要相机追踪小球，可以像下面那样子做：

 cam.lookat[1] =d->qpos[1];

设置小球的位置和速度

xml里面也可以设置，如果代码再设置，会覆盖掉xml的配置

    d->qpos[2]=0.1;
    d->qvel[2]=5;
    d->qvel[0]=2;

给小球施加drag force mjData.qfrc_applied是基于关节局部坐标系来描述的

            double vx, vy, vz;
            vx = d->qvel[0]; vy = d->qvel[1]; vz = d->qvel[2];
            double v;
            v = sqrt(vx*vx+vy*vy+vz*vz);
            double fx, fy, fz;
            double c = 1;
            fx = -c*v*vx;
            fy = -c*v*vy;
            fz = -c*v*vz;
            d->qfrc_applied[0]=fx;
            d->qfrc_applied[1]=fy;
            d->qfrc_applied[2]=fz;

一些代码问题的记录

将mujoco的include 复制到parojectile上一级目录
parojecti
le上一级目录中创建bin目录，然后将mujoco的lib文件复制到bin里

https://pan.baidu.com/s/1TalZP3sc-_is7nM26ozsSQ 提取码: jr76
从上面的链接中下载额外的h文件和so,分别放到include,bin下面

sudo apt install libglew-dev

到bin目录下：sudo ln -s libglew.so libGLEW.so.2.2，解决while loading shared libraries:libglew.so.2.2的问题

修改parojectile的makefile如下：


#MAC
#COMMON=-O2 -I../../include -L../../bin -mavx -pthread
#LIBS = -w -lmujoco200 -lglfw.3
#CC = gcc

#LINUX
COMMON=-O2 -I../include -L../bin -mavx -pthread -Wl,-rpath,'$$ORIGIN'
LIBS = ../bin/libmujoco.so -lGL -lm ../bin/libglew.so ../bin/libglfw.so.3
CC = gcc

#WINDOWS
#COMMON=/O2 /MT /EHsc /arch:AVX /I../../include /Fe../../bin/
#LIBS = ../../bin/glfw3.lib  ../../bin/mujoco200.lib
#CC = cl

ROOT = projectile

all:
	$(CC) $(COMMON) main.c $(LIBS) -o ../bin/$(ROOT)

main.o:
	$(CC) $(COMMON) -c main.c

clean:
	rm *.o ../bin/$(ROOT)