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Mujoco
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more virtualization,more automation,more intelligent
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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原创 2022-03-13 11:41:17 · 1566 阅读 · 0 评论 -
Mujoco平面双足机器人模拟
mujoco双足机器人模拟原创 2022-03-11 10:47:19 · 1651 阅读 · 0 评论 -
MuJoCo Lec12_ Inverse Kinematics using Nonlinear Optimization
MuJoCo Lec12_ Inverse Kinematics using Nonlinear Optimization (Spring 2022)原创 2022-03-04 09:25:02 · 145 阅读 · 0 评论 -
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原创 2022-03-02 09:33:55 · 187 阅读 · 0 评论 -
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原创 2022-02-23 20:55:20 · 3240 阅读 · 3 评论 -
Mujoco 2D hopper
MuJoCo Lec9原创 2022-02-23 15:19:37 · 702 阅读 · 0 评论 -
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原创 2022-02-22 16:07:08 · 2412 阅读 · 0 评论 -
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原创 2022-02-22 11:32:14 · 1614 阅读 · 1 评论 -
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原创 2022-02-22 09:30:33 · 1694 阅读 · 0 评论 -
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原创 2022-02-20 22:34:13 · 349 阅读 · 0 评论 -
MuJoCo - hybrid system的建模与控制
MuJoCo Lec8 Hybrid系统的建模与控制原创 2022-02-20 21:59:55 · 319 阅读 · 0 评论 -
Mujoco-欠驱动的二阶单摆的LQR控制
MuJoCo Lec7原创 2022-02-20 20:43:00 · 534 阅读 · 0 评论 -
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原创 2022-02-14 16:01:26 · 1450 阅读 · 0 评论 -
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"/>原创 2022-02-14 11:48:45 · 921 阅读 · 0 评论 -
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..原创 2022-02-14 11:37:32 · 550 阅读 · 0 评论 -
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原创 2022-02-14 10:42:38 · 1825 阅读 · 0 评论 -
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..原创 2022-02-12 18:10:46 · 1481 阅读 · 0 评论 -
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]=...原创 2022-02-12 16:20:10 · 890 阅读 · 0 评论 -
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原创 2022-02-12 12:21:07 · 950 阅读 · 0 评论 -
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原创 2022-02-12 09:56:08 · 1792 阅读 · 0 评论 -
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"/> <..原创 2022-02-11 21:28:16 · 2884 阅读 · 0 评论 -
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原创 2022-02-10 09:42:19 · 9037 阅读 · 0 评论 -
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的半径以及一半原创 2022-02-09 17:51:44 · 1117 阅读 · 0 评论 -
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原创 2022-02-08 20:42:31 · 1474 阅读 · 0 评论 -
Mujoco入门教程1-xml文件学习
对应视频教程:https://www.youtube.com/watch?v=j1nCeqtfySQ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原创 2022-02-08 19:05:37 · 1920 阅读 · 0 评论