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原创 windows下的mujoco环境搭建
#1 环境1.1 win11: qt.5.14.2+mujoco1.2 mujoco版本 :mujoco2102 qt工程:我创建的是qt consol application。工程主要的工作是引入mujoco和glfw3的库 TEMPLATE = appCONFIG += console c++11CONFIG -= app_bundleCONFIG -= qtSOURCES += \ main.cppINCLUDEPATH += H:\mujoco_d
2022-03-13 11:41:17 1592
原创 Guide into OpenMP
Guide into OpenMP: Easy multithreading programming for C++https://bisqwit.iki.fi/story/howto/openmp/文章目录AbstractPreface: Importance of multithreadingSupport in different compilersIntroduction to OpenMP in C++AbstractThis document attempts to give a q
2022-03-10 14:21:57 230
原创 官方建议的ARKODE编程步骤
Initialize parallel or multi-threaded environment, if appropriate.For example, call MPI_Init to initialize MPI if used, or set num_threads, the number of threads to usewithin the threaded vector functions, if used.Set problem dimensions, etc.This g.
2022-03-10 11:13:38 256
原创 ARKODE的错误码
ARKODE共享的返回值含义ARK_SUCCESS (0): Successful function return.ARK_TSTOP_RETURN (1): ARKode succeeded by reachign the specified stopping point.ARK_ROOT_RETURN (2): ARKode succeeded and found one more more roots.ARK_WARNING (99): ARKode succeeded but an unus
2022-03-10 10:54:50 175
原创 sundials中的ATOL,RTOL
General advice on choice of tolerances. For many users, the appropriate choices for tolerancevalues in reltol and abstol are a concern. The following pieces of advice are relevant.The scalar relative tolerance reltol is to be set to control relative er
2022-03-10 09:36:27 211
原创 sundials中的定步长存在的问题
以ARK为例,定步长的方法是调用ERKStepSetFixedStep。官方对这个接口是这样描述的:Use of this function is not recommended, since we it gives no assurance of the validity of the computed solutions. It is primarily provided for code-to-code verification testing purposes.意思是强烈建议不要使用该接口
2022-03-09 11:13:13 167
原创 腾讯的基因片段
抄袭的习惯,真是流淌在血液里,刻画在基因里2006年6月,马化腾在接受《中国企业家》杂志采访时对此进行了描述:“我不盲目创新,微软、谷歌做的都是别人做过的东西。最聪明的方法肯定是学习最佳案例,然后再超越。”...
2022-03-07 10:55:02 158
原创 MuJoCo Lec12_ Inverse Kinematics using Nonlinear Optimization
MuJoCo Lec12_ Inverse Kinematics using Nonlinear Optimization (Spring 2022)
2022-03-04 09:25:02 147
原创 踩到坑的感慨
有一条公式,跟理论差很多,paper上是一个形式,实现的时候是另外一个形式。我翻了很多参考代码和论文,没有找到原因。所以甚至怀疑给出这条公式的人是有阴谋的,公式故意给得不全。或者只给了部分。这样的情况持续了大概1年。后来偶然看一个讲座视频,里面的人提到了这个公式的来由:实验发现效果更好,所以跟理论的不一样。这大概就是有人带和自己摸索的区别吧~!...
2022-03-02 16:29:29 183
原创 Mujoco-非线性优化问题以及相应库NLOPT
MuJoCo Lec10_ Install and run nonlinear optimization software NLOPT MuJoCo Lec10
2022-03-02 09:33:55 190
原创 Ipopt输出的含义
https://coin-or.github.io/Ipopt/OUTPUT.htmlThis pages describes the standard Ipopt console output with the default setting for option print_level. The output is designed to provide a quick summary of each iteration as Ipopt solves the problem.Before Ipo
2022-02-25 15:57:02 2905
原创 Mujoco的关节与外力和驱动器
Mujoco的auctor有4种模式:1 motor 模式:This element creates a direct-drive actuator这种模式,看起来像是直接输出扭矩的模式。如果我们用这种模式,设定一个值,auctor会将这个值映射成一个力,一直作用于关节这种模式下,简单的pd实现: <actuator> <motor joint="pin" name="torque" gear="1" ctrllimited="true" ctrlrange="-100 1
2022-02-23 20:55:20 3388 3
原创 四元数姿态计算
本文基本上就是[1]的注解一基本概念1.1 四元数的定义 QuaternionA quaternion is a four-dimensional complex number四元数是一个四维的复数写成行向量形式的话,q=[q1 q2 q3 q4]1.2 表示姿态的核心思想An arbitrary orientation of frame B relative to frame A can be achieved through a rotation of angle θaround an
2022-02-23 09:22:49 6263 1
原创 Mujoco-相机数据结构数据结构
struct _mjvCamera // abstract camera{ // type and ids int type; // camera type (mjtCamera) int fixedcamid; // fixed camera id int trackbodyid; // body id to track
2022-02-22 16:07:08 2446
原创 Mujoco Simulate例子笔记
背景这个例子官方给了代码,sample/simulate.cc,用到了uitools.h,uitools.h编译出来的结果就是、bin/simulate可以用来学习整个simulation的框架,以及UI信息的显示后面有时间会回来注解代码,以及加入更多的UI编译 makefile注意,将mujoco的uitools.h,uitools.c复制到跟simulate.cc同一目录#MAC#COMMON=-O2 -I../../include -L../../bin -mavx -pthrea
2022-02-22 11:32:14 1649 1
原创 Mujoco编程开发-官方文档
https://mujoco.readthedocs.io/en/latest/programming.htmlIntroductionThis chapter is the MuJoCo programming guide. A separate chapter contains the API Reference documentation. MuJoCo is a dynamic library compatible with Windows, Linux and macOS, which re
2022-02-22 09:30:33 1726
原创 Mujoco官方提供的模型汇总
https://roboti.us/forum/index.php?resources/categories/models.3/
2022-02-21 17:47:30 661
原创 Mujoco-floating base模型的基座标的定义方式
<mujoco model='cassie'> <worldbody> <geom name='floor' pos='0.001 0 0' size='100 10 .125' type='plane' material='plane' condim='3' conaffinity='15'/> <light mode='trackcom' pos='0 0 5' dir='0 0 -1'/> <light dir
2022-02-20 22:34:13 356
原创 Ode45的步长以及RelTol AbsTol
look hereThe stepsize of ode45 is not constant, but chosen such that the error tolerances you prescribe are met. Thus mean step size can only be controlled indirectly by strengthening (-> smaller stepsize) or weakening (-> larger stepsize) the error
2022-02-15 11:04:47 4804
原创 Mujoco中旋转轴的定义
两种定义方式1 <body name="arm_low_l" pos="-.06 0 -.016" quat="0 0 0.707107 0.707107"> <inertial diaginertia="0.0875091 0.0872503 0.0201335" mass="0.037" pos=".013 -.015 0" quat=".707107 0 0 .315"/> <joint name="l_elbow" rang
2022-02-14 16:01:26 1491
原创 Mujoco xml建模
背景参考Mujoco官方提供的darwin模型step1 建立场景worldbody的一些属性1 light 灯光2 geom 外观,涉及到尺寸,位置等 <mujoco model="darwin v1.31"> <compiler angle="radian" inertiafromgeom="true" meshdir="meshes/"/> <size nconmax="100" njmax="500" nstack="-1"/>
2022-02-14 11:48:45 937
原创 Mujoco模型学习记录
body1 worldbody 特殊的body,作为世界的frameThis element is used to construct the kinematic tree via nesting. The element worldbody is used for the top-level body, while the element body is used for all other bodies. The top-level body is a restricted type of b..
2022-02-14 11:37:32 563
原创 将机器人的urdf文件转为Mujoco模型
方法是利用Mujoco自带的comiple语法./compile robot.urdf mujoco_model.xml可能会遇到的问题报错1Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fixObject name = inertial_link, id = 3解决方法:其他tag可以参考链接http://www.mujoco.org/book/XMLreference.html#compi
2022-02-14 10:42:38 1922
原创 mujoco的双足机器人darwin模型
darwin模型可以去官网直接下载这里备份一份,写文章用到https://download.csdn.net/download/Feisy/80573597
2022-02-14 10:20:08 408
原创 Mujoco雅克比-逆运动-传感器
#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"//simulation end timedouble simend = 20;double qi..
2022-02-12 18:10:46 1526
原创 Mujoco有限状态机以及轨迹追踪
#include<stdbool.h> //for bool//#include<unistd.h> //for usleep//#include <math.h>//start: q0 = -1; q1 = 0//intermediate: q0 = 0; q1 = -1.57 (pi/2)//end: q0 = 1; q1 = 0;double a0[2]={0},a1[2]={0},a2[2]={0},a3[2]=...
2022-02-12 16:20:10 903
原创 Mujoco制作模拟视频
使用Mujoco自带的record.cc来改就可以但是要注意,用g++编译,如果使用gcc编译,可能会报cstdio找不到这样的错误。另外,文件名不能过长,不然std::fopen会打不开record.cc有用到mujoco的array_safe.h,这个是源码提供,可以直接复制到自己的项目里面I’m new to MuJoCo and just tried to run the examples and got a bit stuck on the example for recording
2022-02-12 12:21:07 963
原创 Mujoco核心数据结构-mjData mjModel
Defined in mjdata.hThis is the data structure holding information about one solver iteration. mjData.solver is a preallocated array of mjSolverStat data structures, one for each iteration of the solver, up to a maximum of mjNSOLVER. The actual number of s
2022-02-12 09:56:08 1839
原创 Mujoco-二阶单摆建模与控制
模型文件:<mujoco> <option timestep="0.0001" integrator="RK4" > <flag sensornoise="enable" energy="enable" contact="disable" /> </option> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> <..
2022-02-11 21:28:16 2925
原创 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 windo
2022-02-10 09:42:19 9154
原创 Mujoco-一阶单摆建模与控制
视频地址:https://www.bilibili.com/video/BV1dS4y1G7nL?spm_id_from=333.999.0.0一些知识点jointjoint的外观设置在geom的type属性设置,支持一下几种外观type: [plane, hfield, sphere, capsule, ellipsoid, cylinder, box, mesh], “sphere”cylinder 圆柱体cylinder 的size是1或2个参数,分别表示cylinder的半径以及一半
2022-02-09 17:51:44 1138
原创 Mujoco-小球建模与控制
视频教程:https://www.bilibili.com/video/BV1e44y1H7Mn/资源请到tiny.cc/mujoco下载将mujoco的include 复制到parojectile上一级目录parojectile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
2022-02-08 20:42:31 1501
Beginning+Lua+with+World+of+Warcraft+Add-ons.pdf
2010-06-17
有偿Simulink代码解读
2022-02-11
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