Mujoco基本情况介绍

基本情况

Mujoco是一个跨平台的机器人建模软件。
官方的介绍是这样的：
MuJoCo is a physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, and other areas where fast and accurate simulation is needed.

不同于webots的1G多的大小，Mujoco windows的程序包只有5.7M,让我差点以为眼花了。

下载地址：https://mujoco.org/

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界面

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运行方式

模型查看

windows/linux直接双击/bin目录下的Simulate打开程序
然后将模型的xml文件拖到界面里面，就可以看到模型了

控制

Mujoco需要通过编写程序来实现控制。
在没有提供控制器的情况下，看起来Mujoco会给你的模型给一个默认的控制程序

控制程序的开发是基于C接口的，比如，一个简单的控制程序例子：

#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]