mujoco学习记录-1

ChenXuZh

已于 2023-12-12 18:16:09 修改

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分类专栏： mujoco 文章标签：学习

于 2023-12-10 17:30:08 首次发布

本文链接：https://blog.csdn.net/qq_53044655/article/details/134911304

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本文详细介绍了如何下载和安装MuJoCo，使用XML建模，以及通过C++编写代码实现基本的模型控制。包括配置Makefile和GLFW，以在VSStudio中运行C++程序。

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MuJoCo学习

前情提要

本人仅有C语言基础，具体内容仍在学习中，欢迎各位交流和批评指正

1.下载和安装

Navigate to https://github.com/deepmind/mujoco/
releases and download the windows installation,mujoco-windows-x86_64.zip

解压缩该文件并将其放在合适的位置（路径中不要有中文）

检查是否安装成功

打开bin目录下的simulate.exe

在 D:\07_MuJoCo\mujoco-3.0.1-windows-x86_64\model\hammock 下找到 hammock.xml 将其拖入其中

可以出现如下结果：

在这里插入图片描述

则证明安装成功

2.使用xml语言进行简单建模

创建以下xml文件：

<mujoco>
  <worldbody>
    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
    <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
    <body pos="0 0 1">
      <joint type="free"/>
      <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
    </body>
  </worldbody>
</mujoco>

拖入在Mujico中生成模型：

在这里插入图片描述

左侧工具栏中"Reload"键可以在每次改变xml文件后进行重新生成模型

3.尝试体验一下流程

3.1xml:为其建模：

<mujoco>
  <worldbody>
    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
    <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
    <body pos="0 0 1">
      <joint type="free"/>
      <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
    </body>
  </worldbody>
</mujoco>

效果：

3.2运功控制代码：为其添加动力和阻力

（本次实验仅做初次尝试使用，未理解其具体代码实现原理）

（1）打开 D:\07_MuJoCo\mujoco-2.2.1\sample下的“Makefile”

根据文件中顶部的注释进行相关文件的下载和移动

# A copy of the GLFW library is required to build some sample programs.
# If this is not already installed on your system, download the WIN64 archive
# from https://github.com/glfw/glfw/releases, and copy files as follows:
# - Copy the entire `include/GLFW` subdirectory to `mujoco/include/GLFW`.
# - Copy glfw3dll.lib from the subdirectory corresponding into your compiler
#   choice to `mujoco/lib/glfw3dll.lib`.
# - Copy glfw3.dll from the same subdirectory into `mujoco/bin/glfw3.dll`.

（2）创建一个“myproject”的文件夹，存放项目文件

创建一个小球的模型文件.xml（上一步已完成）

为其添加动力和阻力

在该文件中，要注意其中对xml文件的存放位置

特别注意，为防止编译软件找不到mujoco相关头文件以及方便相关头文件的应用，对其相关头文件进行修改

第一步：打开以下文件路径：C:\Program Files (x86)\Windows Kits\10\Include\10.0.22621.0\ucrt

第二步：打开 \mujoco-3.0.1\include

打开每个文件，将其中的 <mujoco/mjdata.h> 改为<mjdata.h>，即将 mujoco/ 全部去掉

前：
后：

并将修改后的12个文件全部移到 C:\Program Files (x86)\Windows Kits\10\Include\10.0.22621.0\ucrt 路径下

第三步：将下载的
这两个文件一同移动到C:\Program Files (x86)\Windows Kits\10\Include\10.0.22621.0\ucrt

创建以下c文件：

#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[] = "D:/07_MuJoCo/mujoco-3.0.1/myproject/hello/hello.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)
{



    // 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);


    while( !glfwWindowShouldClose(window))
    {
    
        mjtNum simstart = d->time;
        while( d->time - simstart < 1.0/60.0 )
        {
            mj_step(m, d);
        }

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

          // update scene and render
        mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
        mjr_render(viewport, &scn, &con);

        // 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);

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

    return 1;
}

注意！！！

若出现：
则证明第12行的.xml文件路径指定错误；

若出现：
则证明在c文件中出现了mj_activate，删除即可；

3.3修改makefile文件

COMMON=/O2 /MT /EHsc /arch:AVX /I../../include /Fe../../bin/
LIBS = ../../lib/glfw3dll.lib  ../../lib/mujoco.lib
CC = cl

ROOT = hello

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

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

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