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Basic information of mujoco
2022-07-07 00:27:00 【Feisy】
Basic information
Mujoco It is a cross platform robot modeling software .
The official introduction is like this ：
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.
differ webots Of 1G More size ,Mujoco windows Only 5.7M, I almost thought I was dazzled .
Download address ：https://mujoco.org/
Interface
Operation mode
Model view
windows/linux Direct double click /bin In the catalog Simulate open programs
Then, the xml Drag the file into the interface , You can see the model
control
Mujoco You need to write a program to control .
In the absence of a controller , look Mujoco Will give your model a default control program
The development of control program is based on C Interface , such as , A simple example of a control program ：
#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;
}
This form of control , It can be easily combined with your control system , For example, build a data pipeline , take
The data of the system is transmitted to Mujoco Inside , It doesn't even need to be coupled to your system .
Modeling support
There are two ways , One is xml, The other is Mujoco Peculiar
in addition , Support stl Import .
One use stl To render an example of a biped robot ：
<!-- ====================================================== This file is part of MuJoCo. Copyright 2009-2016 Roboti LLC. Model :: darwin Mujoco :: Advanced physics simulation engine Source : www.roboti.us Version : 1.31 Released : 23Apr16 Author :: Vikash Kumar Contacts : [email protected] Last edits : 30Apr16, 14Dec'15, 30Nov'15, 5Nov'15 ====================================================== -->
<mujoco model="darwin v1.31">
<compiler angle="radian" inertiafromgeom="true" meshdir="meshes/"/>
<size nconmax="100" njmax="500" nstack="-1"/>
<default>
<geom material="MatFrame" margin='0.001' />
<joint limited='true' frictionloss="0.2" damping="1.06" armature="0.011" axis="0 0 1" pos="0 0 0"/>
<position ctrllimited='true' kp='2.65'/>
</default>
<asset>
<mesh file="body_coll.stl"/>
<mesh file="neck_coll.stl"/>
<mesh file="head_coll.stl"/>
<mesh file="shoulder_l_coll.stl"/>
<mesh file="arm_high_l_coll.stl"/>
<mesh file="shoulder_r_coll.stl"/>
<mesh file="arm_high_r_coll.stl"/>
<mesh file="pelvis_l_coll.stl"/>
<mesh file="thigh1_l_coll.stl"/>
<mesh file="thigh2_l_coll.stl"/>
<mesh file="tibia_l_coll.stl"/>
<mesh file="ankle1_l_coll.stl"/>
<mesh file="ankle2_l_coll.stl"/>
<mesh file="pelvis_r_coll.stl"/>
<mesh file="thigh1_r_coll.stl"/>
<mesh file="thigh2_r_coll.stl"/>
<mesh file="tibia_r_coll.stl"/>
<mesh file="tibia_naked.stl" scale="0.001 0.001 0.001"/>
<mesh file="ankle1_r_coll.stl"/>
<mesh file="ankle2_r_coll.stl"/>
<mesh file="arm_metal_lowres.stl" scale="0.001 0.001 0.001"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0 0 0" width="100" height="100"/>
<texture name="groundplane" type="2d" builtin="checker" rgb1=".7 .7 .75" rgb2=".9 .9 .95" width="500" height="500" mark="edge" markrgb=".1 .1 .1"/>
<material name="MatPlastic" specular=".8" shininess=".6" reflectance="0.5" rgba=".4 .41 .4 1"/>
<material name="MatFrame" specular="1.2" shininess=".1" reflectance="0.5" rgba=".21 .2 .2 1"/>
<material name="MatGnd" texture="groundplane" texrepeat="5 5" specular=".5" shininess=".01" reflectance="0.1"/>
</asset>
<contact>
<exclude body1="head" body2="torso"/>
<exclude body1="foot_l" body2="tibia_l"/>
<exclude body1="foot_r" body2="tibia_r"/>
</contact>
<worldbody>
<light directional="false" cutoff="60" exponent="1" diffuse=".5 .5 .5" specular=".1 .1 .1" pos="0.5 0.1 0.8" dir="-0.5 -0.1 -0.8"/>
<geom name="ground" pos="0 0 0" size="2 2 1" material="MatGnd" type="plane"/>
<body name="torso" pos="0 0 0.4">
<inertial diaginertia="6.53693 6.39822 1.88344" mass="0.975599" pos="-0.003053 -0.038651 -0.019268" quat="-0.00879356 0.867004 0.0524199 0.495458"/>
<joint type="free" limited='false' damping="0" stiffness="0" armature="0"/>
<geom mesh="body_coll" type="mesh" material="MatPlastic"/>
<body name="neck" pos="0 0 0.0235" quat="0.707107 0 0 0.707107">
<inertial diaginertia="0.00482356 0.00482356 0.00482356" mass="0.0243577" pos="0.001424 -0.016567 -0.007128" quat="0.640564 0.00150549 0.00338323 0.767896"/>
<joint name="head_pan" range="-3.141592 3.141592" type="hinge"/>
<geom mesh="neck_coll" type="mesh" contype='0' conaffinity='0'/>
<body name="head" pos="0 0 0.02715" quat="0.5 -0.5 -0.5 0.5">
<inertial diaginertia="0.158397 0.123969 0.1178" mass="0.158042" pos="6.4e-005 -0.018565 -0.007667" quat="0.504401 0.495706 -0.489128 0.510499"/>
<joint name="head_tilt" range="-.4363323 .959931089" type="hinge"/>
<geom mesh="head_coll" type="mesh" material="MatPlastic"/>
</body>
</body>
<body name="shoulder_l" pos="0 0.06035 0" quat=".5 -.5 -.5 -.5">
<inertial diaginertia="0.0118742 0.00851644 0.00537304" mass="0.013" pos="-0.0135226 0.0102641 0.00139357" quat="0.89853 0.0814684 0.0409894 0.429332"/>
<joint name="l_shoulder_pitch" range="-2.61799 2.61799" type="hinge"/>
<geom mesh="shoulder_l_coll" type="mesh" contype='0' conaffinity='0'/>
<body name="arm_high_l" pos="-0.016 0 0.025" quat="0.5 0.5 0.5 -0.5">
<inertial diaginertia="0.122178 0.113353 0.0379938" mass="0.17837715" pos="-0.036239 0.000734 0.00066" quat="0.713991 0.698029 0.0283632 -0.0465622"/>
<joint name="l_shoulder_roll" range="-1.308997 2.356194" type="hinge"/>
<geom mesh="arm_high_l_coll" type="mesh" material="MatPlastic"/>
<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" range="-1.3 1.57" type="hinge"/>
<geom mesh="shoulder_l_coll" pos='.016 -.025 0' euler='-1.57 0 0' type="mesh"/>
<geom mesh="arm_metal_lowres" pos='.021 0.0055 -0.081' euler='0 -1.57 0' type="mesh"/>
</body>
</body>
</body>
<body name="shoulder_r" pos="0 -0.06035 0" euler='1.57 0 1.57'>
<inertial diaginertia="0.0118742 0.00851644 0.00537304" mass="0.013" pos="-0.013523 0.010264 0.001394" quat="0.89853 0.0814684 0.0409894 0.429332"/>
<joint name="r_shoulder_pitch" range="-3.141592 3.141592" type="hinge"/>
<geom mesh="shoulder_r_coll" type="mesh" contype='0' conaffinity='0'/>
<body name="arm_high_r" pos="-0.017 0 0.02478" quat='.5 -.5 .5 .5' >
<inertial diaginertia="0.122178 0.113353 0.0379938" mass="0.168377" pos="-0.036239 0.000734 -0.00066" quat="0.713991 0.698029 0.0283632 -0.0465622"/>
<joint name="r_shoulder_roll" range="-2.356194 1.308997" type="hinge"/>
<geom mesh="arm_high_r_coll" type="mesh" material="MatPlastic"/>
<body name="arm_low_r" pos="-0.06 0 0.016" quat="9.38186e-007 -9.38186e-007 0.707107 0.707107">
<inertial diaginertia="0.0875091 0.0872503 0.0201335" mass="0.0592885" pos="0 0 0" quat="0.362962 0.448533 -0.589325 0.565485"/>
<joint name="r_elbow" range="-1.57 1.3" type="hinge"/>
<geom mesh="shoulder_l_coll" pos='.017 -.0575 0' euler='-1.57 0 0' type="mesh"/>
<geom mesh="arm_metal_lowres" pos='.012 -0.027 0.081' euler='0 1.57 0' type="mesh"/>
</body>
</body>
</body>
<body name="pelvis_l" pos="-0.005 0.037 -0.09355" quat="0 0.707107 0.707107 0">
<inertial diaginertia="0.122641 0.11137 0.0411301" mass="0.027069" pos="0 0.00048 0.018437" quat="0.998273 -0.0514899 -0.00396715 0.0279885"/>
<joint name="l_hip_yaw" range="-.9250245036 2.14675498" type="hinge"/>
<geom mesh="pelvis_l_coll" type="mesh" contype='0' conaffinity='0'/>
<body name="thigh1_l" pos="0 0 0.028652" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.114985 0.0979692 0.0327798" mass="0.167107" pos="7.9e-005 0.018242 0.013873" quat="0.485806 0.506867 -0.504884 0.502165"/>
<joint name="l_hip_roll" range="-1.0297442587 .7853981634" type="hinge"/>
<geom mesh="thigh1_l_coll" type="mesh"/>
<body name="thigh2_l" pos="0 0 0" quat="0.5 0.5 -0.5 -0.5">
<inertial diaginertia="0.114985 0.0979692 0.0327798" mass="0.119043" pos="-0.062965 -0.000323 0.000692" quat="0.485806 0.506867 -0.504884 0.502165"/>
<joint name="l_hip_pitch" range="-.5061454831 1.745329252" type="hinge"/>
<geom mesh="thigh2_l_coll" type="mesh" material="MatPlastic"/>
<body name="tibia_l" pos="-0.093 0 0">
<inertial diaginertia="0.115891 0.0933882 0.043901" mass="0.0703098" pos="-0.053955 0.006548 -0.000592" quat="0.456916 0.538297 -0.548699 0.447654"/>
<joint name="l_knee" range="-2.2689280276 .1047197551" type="hinge"/>
<geom mesh="tibia_naked" pos='0.145 0 0.037' euler='1.57 0 -1.57' type="mesh"/>
<body name="ankle1_l" pos="-0.093 0 0" quat="0 1 0 0">
<inertial diaginertia="0.120855 0.109532 0.0411304" mass="0.167108" pos="-0.000214 -0.018536 0.013873" quat="0.997965 0.0519065 0.00385358 -0.0368208"/>
<joint name="l_ankle_pitch" range="-1.3962634016 1.2566370614" type="hinge"/>
<geom mesh="ankle1_l_coll" type="mesh"/>
<body name="foot_l" pos="0 0 0" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.120855 0.109532 0.0411304" mass="0.0794462" pos="-0.025995 -0.009506 -0.000503" quat="0.997965 0.0519065 0.00385358 -0.0368208"/>
<joint name="l_ankle_roll" range="-1.0995574288 .7679448709" type="hinge"/>
<geom mesh="ankle2_l_coll" type="mesh" material="MatPlastic" contype='0' conaffinity='0'/>
<geom type="box" pos="-.027 -.01 0" size=".007 .032 .052" material="MatPlastic"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="pelvis_r" pos="-0.005 -0.037 -0.09355" quat="0 -0.707107 0.707107 0">
<inertial diaginertia="0.122641 0.11137 0.0411301" mass="0.027069" pos="0 0.00048 0.018437" quat="0.998273 -0.0514899 -0.00396715 0.0279885"/>
<joint name="r_hip_yaw" range="-2.14675498 .9250245036" type="hinge"/>
<geom mesh="pelvis_r_coll" type="mesh" contype='0' conaffinity='0'/>
<body name="thigh1_r" pos="0 0 0.028652" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.114985 0.0979692 0.0327798" mass="0.167107" pos="7.9e-005 -0.018242 0.0138735" quat="0.485806 0.506867 -0.504884 0.502165"/>
<joint name="r_hip_roll" range="-.7853981634 1.0297442587" type="hinge"/>
<geom mesh="thigh1_r_coll" type="mesh"/>
<body name="thigh2_r" pos="0 0 0" quat="0.5 0.5 -0.5 -0.5">
<inertial diaginertia="0.114985 0.0979692 0.0327798" mass="0.119043" pos="0.062965 -0.000323 0.000692" quat="0.485806 0.506867 -0.504884 0.502165"/>
<joint name="r_hip_pitch" range="-1.745329252 .5061454831" type="hinge"/>
<geom mesh="thigh2_r_coll" type="mesh" material="MatPlastic"/>
<body name="tibia_r" pos="0.093 0 0">
<inertial diaginertia="0.115891 0.0933882 0.043901" mass="0.0703098" pos="0.053955 0.006548 -0.000592" quat="0.456916 0.538297 -0.548699 0.447654"/>
<joint name="r_knee" range="-.1047197551 2.2689280276" type="hinge"/>
<geom mesh="tibia_naked" pos='-0.145 0 -0.037' euler='1.57 0 1.57' type="mesh"/>
<body name="ankle1_r" pos="0.093 0 0" quat="0 1 0 0">
<inertial diaginertia="0.120855 0.109532 0.0411304" mass="0.167108" pos="-0.000214 -0.018536 -0.013873" quat="0.997965 0.0519065 0.00385358 -0.0368208"/>
<joint name="r_ankle_pitch" range="-1.2566370614 1.3962634016" type="hinge"/>
<geom mesh="ankle1_r_coll" type="mesh" />
<body name="foot_r" pos="0 0 0" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.120855 0.109532 0.0411304" mass="0.0794462" pos="0.025995 -0.009506 -0.000503" quat="0.997965 0.0519065 0.00385358 -0.0368208"/>
<joint name="r_ankle_roll" range="-.7679448709 1.0995574288" type="hinge"/>
<geom mesh="ankle2_r_coll" type="mesh" material="MatPlastic" contype='0' conaffinity='0'/>
<geom type="box" pos=".027 -.01 0" size=".007 .032 .052" material="MatPlastic"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position name='r_shoulder_pitch' joint='r_shoulder_pitch'ctrlrange='-1.5 1.5' />
<position name='r_shoulder_roll' joint='r_shoulder_roll' ctrlrange='-.85 1.3' />
<position name='r_elbow' joint='r_elbow' ctrlrange='-1.55 1.25' />
<position name='r_hip_yaw' joint='r_hip_yaw' ctrlrange='-1 .9' />
<position name='r_hip_roll' joint='r_hip_roll' ctrlrange='-.7 .45' />
<position name='r_hip_pitch' joint='r_hip_pitch' ctrlrange='-1.7 .45' />
<position name='r_knee' joint='r_knee' ctrlrange='-0.05 2.2' />
<position name='r_ankle_pitch' joint='r_ankle_pitch' ctrlrange='-1.2 1.35' />
<position name='r_ankle_roll' joint='r_ankle_roll' ctrlrange='-.7 .95' />
<position name='l_shoulder_pitch' joint='l_shoulder_pitch'ctrlrange='-1.5 1.5' />
<position name='l_shoulder_roll' joint='l_shoulder_roll' ctrlrange='-1.25 .85' />
<position name='l_elbow' joint='l_elbow' ctrlrange='-1.25 1.55' />
<position name='l_hip_yaw' joint='l_hip_yaw' ctrlrange='-.9 1' />
<position name='l_hip_roll' joint='l_hip_roll' ctrlrange='-.45 .7' />
<position name='l_hip_pitch' joint='l_hip_pitch' ctrlrange='-.45 1.7' />
<position name='l_knee' joint='l_knee' ctrlrange='-2.2 .05' />
<position name='l_ankle_pitch' joint='l_ankle_pitch' ctrlrange='-1.35 1.2' />
<position name='l_ankle_roll' joint='l_ankle_roll' ctrlrange='-.95 .7' />
<position name='head_pan' joint='head_pan' ctrlrange='-2 2' />
<position name='head_tilt' joint='head_tilt' ctrlrange='-.4 .9' />
</actuator>
</mujoco>
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