diff --git a/docs/index.md b/docs/index.md index 0028324723..4ea804d863 100644 --- a/docs/index.md +++ b/docs/index.md @@ -1,4 +1,4 @@ -title: 主页 +title: 主页 # [神经网络](https://github.com/OpenHUTB/nn) diff --git a/docs/mujoco_plex/README.md b/docs/mujoco_plex/README.md new file mode 100644 index 0000000000..ff24e10c97 --- /dev/null +++ b/docs/mujoco_plex/README.md @@ -0,0 +1,237 @@ +# 基于 MuJoCo 的 ANYmal C 四足机器人仿真与控制 + +**仓库地址：** [https://github.com/Liu-Yirun/nn](https://github.com/Liu-Yirun/nn) + +--- + +## 1. 项目概述 + +### 1.1 项目简介 + +本项目基于 MuJoCo 物理仿真引擎，加载 DeepMind MuJoCo Menagerie 中的 **ANYmal C** 四足机器人模型，实现模型加载、可视化仿真、周期性腿部摆动控制与运行状态监控。项目从 ANYmal B 模型起步，经路径适配、稳定性优化、工程化重构与功能增强，形成可跨设备运行的仿真基线。 + +### 1.2 项目整体流程 + +``` +加载 MJCF 模型 → 配置初始位姿与物理参数 → 启动被动可视化窗口 + → 自动正弦摆动控制 → mj_step 物理步进 → 定时打印关节/速度日志 +``` + +### 1.3 项目模块总览 + +| 模块 | 函数 | 核心功能 | +| ---- | ---- | -------- | +| 配置中心 | `CONFIG` | 集中管理模型路径、位姿、仿真步长、帧率、摆动参数 | +| 模型加载 | `load_mujoco_model` | 路径校验、异常捕获、模型信息打印 | +| 机器人初始化 | `configure_robot` | 设置基座位姿、重力、时间步、控制量清零 | +| 摆动控制 | `auto_swing_control` | 正弦周期驱动前 6 个关节，无需键盘输入 | +| 姿态复位 | `reset_robot` | 恢复基座、关节、速度与仿真时钟 | +| 仿真主循环 | `run_simulation` | 帧率控制、步进、画面同步、状态日志 | + +### 1.4 核心技术特点 + +| 特点 | 说明 | +| ---- | ---- | +| 相对路径部署 | 使用 `anybotics_anymal_c/anymal_c.xml`，脱离固定盘符 | +| 模块化设计 | 配置、加载、控制、仿真循环分离，便于二次开发 | +| 自动摆动控制 | 正弦波驱动腿部关节，可开关、可调幅度与频率 | +| 运行监控 | 定时输出运行时长、仿真时间、关节角与机身线速度 | +| 稳定帧率 | 目标 60 FPS，避免仿真过快导致可视化卡顿 | + +### 1.5 项目核心目标 + +1. 在 MuJoCo 中稳定加载并可视化 ANYmal C 四足机器人 +2. 实现可配置的周期性腿部摆动，用于步态调试 +3. 提供清晰的日志输出，支持仿真过程监控 +4. 形成工程化代码结构，便于后续接入强化学习控制 + +--- + +## 2. 快速上手 + +### 2.1 运行环境 + +| 类别 | 要求 | +| ---- | ---- | +| 操作系统 | Windows 10/11 | +| Python | 3.8 及以上 | +| 物理仿真 | MuJoCo 2.2.2+ | + +### 2.2 依赖安装 + +在项目目录（`mujoco_plex`）打开 PowerShell，执行： + +```bash +pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple +``` + +### 2.3 启动仿真 + +```bash +python main.py +``` + +启动后将打开 MuJoCo 被动可视化窗口，机器人腿部自动周期摆动；关闭窗口即可退出。 + +### 2.4 常用配置参数 + +在 `main.py` 顶部 `CONFIG` 字典中修改： + +```python +CONFIG = { + "model_path": "anybotics_anymal_c/anymal_c.xml", + "base_pos": (0.0, 0.0, 0.5), # 基座初始位置 + "time_step": 0.002, # 仿真步长 + "target_fps": 60, # 目标帧率 + "auto_swing_enable": True, # 自动摆动开关 + "joint_swing_amp": 0.4, # 摆动幅度 + "swing_freq": 1.0, # 摆动频率 (Hz) + "print_interval": 1.0, # 日志打印间隔 (秒) +} +``` + +--- + +## 3. 代码模块详解 + +### 3.1 模型加载 `load_mujoco_model` + +- 校验路径类型与文件是否存在 +- 调用 `mujoco.MjModel.from_xml_path` 加载 MJCF +- 打印机身、关节、执行器数量，便于调试索引 + +### 3.2 机器人初始化 `configure_robot` + +- 设置 `base` 刚体初始位置与四元数姿态 +- 配置仿真时间步与重力 +- 将控制量 `data.ctrl` 清零 + +### 3.3 自动摆动 `auto_swing_control` + +对前 6 个执行器施加正弦控制： + +$$ +u(t) = A \sin(2\pi f t) +$$ + +其中 $A$ 为 `joint_swing_amp`，$f$ 为 `swing_freq`。关闭 `auto_swing_enable` 时控制量归零。 + +### 3.4 仿真主循环 `run_simulation` + +每帧执行：摆动控制 → `mj_step` → `viewer.sync` → 帧率休眠。按 `print_interval` 输出： + +- 程序运行时长与 MuJoCo 仿真时钟 +- 前 6 个关节角度（`qpos[7:13]`） +- 机身线速度（`cvel` 线速度分量） + +--- + +## 4. 项目目录结构 + +```text +mujoco_plex/ +├── main.py # 主程序入口 +├── index.md # 项目文档（本页） +├── mkdocs.yml # MkDocs 站点配置 +├── requirements.txt # Python 依赖 +├── anybotics_anymal_c/ # ANYmal C 模型资源 +│ ├── anymal_c.xml +│ └── assets/ # 3D 网格 (.obj) +└── mjmodel.xml # 备用模型文件 +``` + +--- + +## 5. 开发迭代记录 + +### 提交 1：初始版本 — 本地绝对路径加载 ANYmal B + +- 使用本地绝对路径加载 `anymal_b.xml` +- 实现基础 `mj_step` 与可视化窗口 + +### 提交 2：路径适配 — 相对路径部署 + +- 改为 `anybotics_anymal_b/anymal_b.xml` +- 支持将模型文件夹放在代码同级目录 + +### 提交 3：防掉落优化 — 基座固定与物理调参 + +- 锁定基座位姿，调整碰撞与摩擦参数 +- 初始化关节控制量，保持站立姿态 + +### 提交 4：模型切换 — ANYmal C + 版权声明 + +- 切换为 `anybotics_anymal_c/anymal_c.xml` +- 补充 ANYbotics BSD 开源协议说明 + +### 提交 5：工程化重构 — CONFIG + 模块化 + +- 引入 `CONFIG` 配置字典 +- 拆分加载、初始化、仿真循环函数 +- 完善类型注解与异常处理 + +### 提交 6：稳定性修复 — qpos/qvel 实时约束 + +- 每帧重置根刚体位姿与速度，消除坠落与漂移 + +### 提交 7：高度微调 + +- 上调基座 Z 轴高度，避免与地面穿模 + +### 提交 8：功能增强 — 运行日志与关节监控 + +- 新增运行时长、仿真时间、关节角度定时打印 +- 新增机身线速度输出 + +### 提交 9：自动摆动控制（当前版本） + +- 移除键盘依赖，改为正弦周期自动驱动腿部 +- 新增 `reset_robot` 复位函数 +- 保留帧率控制与模块化结构 + +--- + +## 6. 优化总结 + +| 维度 | 改进内容 | +| ---- | -------- | +| 路径适配 | 绝对路径 → 相对路径，跨设备运行 | +| 稳定性 | 物理参数调优、位姿与速度约束，解决掉落与穿模 | +| 代码架构 | 配置中心化、函数模块化、完善异常处理 | +| 调试能力 | 关节角度、线速度、运行时长周期性日志 | +| 控制方式 | 自动正弦摆动，参数可在 CONFIG 中调节 | + +--- + +## 7. 现存不足与后续方向 + +### 7.1 现存不足 + +- 当前为开环正弦摆动，未实现真实步态或平衡控制 +- 未接入强化学习训练环境 +- 缺少与地面的完整场景 XML（scene.xml） + +### 7.2 后续优化 + +- 引入 PD 控制器实现支撑相 / 摆动相步态 +- 搭建 Gymnasium 环境，接入 PPO / SAC 步态学习 +- 增加域随机化与课程学习，提升策略鲁棒性 +- 参考课程仓库中 `mujoco_running`、`mujoco_hci_sim` 项目的分层控制架构 + +--- + +## 8. 本地预览文档站点 + +安装依赖后，在项目目录执行： + +```bash +mkdocs serve +``` + +浏览器访问 `http://127.0.0.1:8000` 预览本文档页面。 + +--- + +## 9. 总结 + +本项目完成了 ANYmal C 四足机器人在 MuJoCo 中的加载、可视化与周期性腿部控制，历经路径适配、稳定性修复与工程化重构，形成结构清晰、可扩展的仿真基线。代码支持参数化配置与运行监控，可作为四足机器人运动控制与强化学习研究的起点。 diff --git a/mkdocs.yml b/mkdocs.yml index 8d614a62ae..44ae29c495 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -1,4 +1,4 @@ -site_name: 神经网络 +site_name: 神经网络 site_url: https://wengqiuyi.github.io/nn/ # 参考链接：https://blog.csdn.net/m0_63203517/article/details/129765689 diff --git a/src/mujoco_plex/PUSH_GUIDE.md b/src/mujoco_plex/PUSH_GUIDE.md new file mode 100644 index 0000000000..44a53bf53e --- /dev/null +++ b/src/mujoco_plex/PUSH_GUIDE.md @@ -0,0 +1,53 @@ +# 推送到 nn 课程仓库指南 + +本地项目已配置完成。因网络原因无法在此环境自动克隆 GitHub，请按以下步骤手动推送。 + +## 一、本地预览文档（作业教程第 4 步） + +在 PowerShell 中执行： + +```powershell +cd C:\Users\18022\Desktop\mujoco_plex\mujoco_plex +pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple +mkdocs serve +``` + +浏览器打开 http://127.0.0.1:8000 查看文档。 + +## 二、推送到 GitHub（作业教程第 5 步） + +### 方式 A：用 GitHub Desktop（推荐） + +1. 用 GitHub Desktop 克隆 https://github.com/Liu-Yirun/nn 到 `C:\Users\18022\Desktop\nn` +2. 双击运行本目录下的 `integrate_to_nn.ps1` +3. 在 GitHub Desktop 中提交并 Push + +### 方式 B：命令行 + +```powershell +cd C:\Users\18022\Desktop +git clone --depth 1 https://github.com/Liu-Yirun/nn.git nn +cd C:\Users\18022\Desktop\mujoco_plex +powershell -ExecutionPolicy Bypass -File integrate_to_nn.ps1 +cd C:\Users\18022\Desktop\nn +git add src/mujoco_plex docs/mujoco_plex mkdocs.yml docs/index.md +git commit -m "添加 MuJoCo ANYmal C 四足机器人仿真项目文档与源码" +git push origin main +``` + +## 三、已准备的文件 + +| 路径 | 说明 | +| ---- | ---- | +| `mujoco_plex/index.md` | 项目文档（教程要求的 index.md） | +| `mujoco_plex/mkdocs.yml` | MkDocs 配置 | +| `mujoco_plex/docs/index.md` | MkDocs 文档页 | +| `mujoco_plex/main.py` | 仿真主程序 | +| `nn_bundle/` | 待合并到 nn 仓库的源码与文档 | + +## 四、运行仿真 + +```powershell +cd C:\Users\18022\Desktop\mujoco_plex\mujoco_plex +python main.py +``` diff --git a/src/mujoco_plex/integrate_to_nn.ps1 b/src/mujoco_plex/integrate_to_nn.ps1 new file mode 100644 index 0000000000..b27e45c74b --- /dev/null +++ b/src/mujoco_plex/integrate_to_nn.ps1 @@ -0,0 +1,79 @@ +# Merge mujoco_plex project into nn repo +# Run command: powershell -ExecutionPolicy Bypass -File integrate_to_nn.ps1 +$ErrorActionPreference = "Stop" + +# Get current script folder +$scriptDir = $PSScriptRoot +# 你的真实 nn 仓库根目录：脚本往上两级 D:\nn\nn\ +$nnRepoRoot = Split-Path (Split-Path $scriptDir -Parent) -Parent +# nn_bundle 放在脚本同目录 D:\nn\nn\src\mujoco_plex\nn_bundle +$bundleDir = Join-Path $scriptDir "nn_bundle" + +# Check nn repo git folder +$gitDir = Join-Path $nnRepoRoot ".git" +if (-not (Test-Path $gitDir)) +{ + Write-Host "[ERROR] nn git repo not found at $nnRepoRoot" -ForegroundColor Red + Write-Host "Run clone cmd first: git clone --depth 1 https://github.com/Liu-Yirun/nn.git `"$nnRepoRoot`"" + exit 1 +} + +# Check bundle source folder +if (-not (Test-Path $bundleDir)) +{ + Write-Host "[ERROR] nn_bundle folder missing at $bundleDir" -ForegroundColor Red + Write-Host "Make sure nn_bundle is placed same directory as this script" + exit 1 +} + +# Copy source code +$srcSource = Join-Path $bundleDir "src\mujoco_plex" +$srcDest = Join-Path $nnRepoRoot "src\mujoco_plex" +Copy-Item -Path $srcSource -Destination $srcDest -Recurse -Force + +# Copy docs +$docSource = Join-Path $bundleDir "docs\mujoco_plex" +$docDest = Join-Path $nnRepoRoot "docs\mujoco_plex" +Copy-Item -Path $docSource -Destination $docDest -Recurse -Force +Write-Host "[OK] Copied src/mujoco_plex & docs/mujoco_plex" -ForegroundColor Green + +# Update mkdocs.yml nav +$mkdocsFile = Join-Path $nnRepoRoot "mkdocs.yml" +$mkdocsRaw = Get-Content -Path $mkdocsFile -Raw -Encoding UTF8 +$newNavItem = "- ANYmal C Quadruped Robot Simulation: 'mujoco_plex/README.md'" +$matchCarlaLine = "(- CARLA Multi-sensor Autonomous Driving Platform: 'carla_multisensor_platform/carla_multisensor_platform.md')" + +if ($mkdocsRaw -notmatch "mujoco_plex") +{ + $mkdocsRaw = $mkdocsRaw -replace $matchCarlaLine, "`$1`n$newNavItem" + Set-Content -Path $mkdocsFile -Value $mkdocsRaw -Encoding UTF8 -NoNewline + Write-Host "[OK] Updated mkdocs.yml navigation" -ForegroundColor Green +} +else +{ + Write-Host "[SKIP] mujoco_plex already exists in mkdocs.yml" -ForegroundColor Cyan +} + +# Update docs/index.md homepage link +$indexFile = Join-Path $nnRepoRoot "docs\index.md" +$indexRaw = Get-Content -Path $indexFile -Raw -Encoding UTF8 +$newIndexLink = "- [__ANYmal C Quadruped Robot Simulation__](./mujoco_plex/README.md) - MuJoCo based ANYmal C quadruped robot simulation & leg swing control" +$matchAntLine = "(- \[__Robot Simulation(MuJoCo)__\]\(ant_robot/robot_simulation.md\))" + +if ($indexRaw -notmatch "mujoco_plex") +{ + $indexRaw = $indexRaw -replace $matchAntLine, "`$1`n`n$newIndexLink" + Set-Content -Path $indexFile -Value $indexRaw -Encoding UTF8 -NoNewline + Write-Host "[OK] Updated docs/index.md project list" -ForegroundColor Green +} +else +{ + Write-Host "[SKIP] mujoco_plex link already exists in index.md" -ForegroundColor Cyan +} + +Write-Host "`n==================== Task Complete ====================" -ForegroundColor Green +Write-Host "Next git commands:" +Write-Host " cd `"$nnRepoRoot`"" +Write-Host " git add src/mujoco_plex docs/mujoco_plex mkdocs.yml docs/index.md" +Write-Host " git commit -m 'Add MuJoCo ANYmal C quadruped robot simulation project'" +Write-Host " git push origin main" \ No newline at end of file diff --git a/src/mujoco_plex/main.py b/src/mujoco_plex/main.py index f781a7a231..3a16952b27 100644 --- a/src/mujoco_plex/main.py +++ b/src/mujoco_plex/main.py @@ -18,8 +18,8 @@ "print_interval": 1.0, # 打印间隔(秒) # 新增配置项 "auto_swing_enable": True, # 自动腿部周期摆动开关 - "joint_swing_amp": 0.4, # 关节摆动幅度 - "swing_freq": 1.0, # 腿部摆动频率 + "joint_swing_amp": 0.2, # 降低摆动幅度，防止失衡 + "swing_freq": 0.8, # 降低摆动频率 "show_body_vel": True, # 打印机身线速度 } @@ -48,19 +48,72 @@ def load_mujoco_model(model_path: str) -> Optional[Tuple[mujoco.MjModel, mujoco. # ===================== 机器人初始化 ===================== def configure_robot(model: mujoco.MjModel, data: mujoco.MjData) -> None: - """配置机器人初始状态与仿真参数""" + """配置机器人初始状态与仿真参数【修复：改用data.qpos设置初始位姿】""" base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) - if base_id >= 0: - model.body_pos[base_id][:3] = CONFIG["base_pos"] - model.body_quat[base_id][:4] = CONFIG["base_quat"] + # 【修复1】不要修改model.body_pos，修改data.qpos才是仿真初始状态 + data.qpos[:3] = CONFIG["base_pos"] + data.qpos[3:7] = CONFIG["base_quat"] + data.qvel[:] = 0.0 + data.ctrl[:] = 0.0 # 仿真参数 model.opt.timestep = CONFIG["time_step"] model.opt.gravity[:] = CONFIG["gravity"] - # 控制量清零 + # 【修复2】强制前向动力学，刷新碰撞、重心、肢体位置，防止初始穿模掉落 + mujoco.mj_forward(model, data) + +# ===================== 新增：自动腿部摆动逻辑（优化，避免整体失衡掉落） ===================== +def auto_swing_control(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """自动周期性腿部摆动，分相位摆动，避免四条腿同步下压导致机身下坠""" + if not CONFIG["auto_swing_enable"]: + data.ctrl[:] = 0.0 + return + t = data.time + amp = CONFIG["joint_swing_amp"] + freq = CONFIG["swing_freq"] + + # 【修复3】四条腿分相位错开摆动，不会同时向下挤压机身 + phase_fl = 0.0 + phase_fr = np.pi + phase_rl = np.pi + phase_rr = 0.0 + + swing_fl = amp * np.sin(2 * np.pi * freq * t + phase_fl) + swing_fr = amp * np.sin(2 * np.pi * freq * t + phase_fr) + swing_rl = amp * np.sin(2 * np.pi * freq * t + phase_rl) + swing_rr = amp * np.sin(2 * np.pi * freq * t + phase_rr) + + # Anymal C 前6个执行器：FL_HAA, FL_HFE, FL_KFE, FR_HAA, FR_HFE, FR_KFE + data.ctrl[0] = swing_fl + data.ctrl[1] = swing_fl * 0.6 + data.ctrl[2] = swing_fl * 0.8 + data.ctrl[3] = swing_fr + data.ctrl[4] = swing_fr * 0.6 + data.ctrl[5] = swing_fr * 0.8 + + # 后腿如果有执行器继续错开，无则忽略 + if model.nu > 6: + data.ctrl[6] = swing_rl + data.ctrl[7] = swing_rl * 0.6 + data.ctrl[8] = swing_rl * 0.8 + data.ctrl[9] = swing_rr + data.ctrl[10] = swing_rr * 0.6 + data.ctrl[11] = swing_rr * 0.8 + +# ===================== 重置机器人姿态函数 ===================== +def reset_robot(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """恢复机器人初始基座、关节、速度、仿真时间【同步修复重置逻辑】""" + data.qpos[:] = 0.0 + data.qpos[0:3] = CONFIG["base_pos"] + data.qpos[3:7] = CONFIG["base_quat"] + data.qvel[:] = 0.0 + data.time = 0.0 data.ctrl[:] = 0.0 + # 重置后必须刷新动力学 + mujoco.mj_forward(model, data) + print("🔄 已重置机器人初始姿态") # ===================== 新增：自动腿部摆动逻辑（移除按键依赖） ===================== def auto_swing_control(model: mujoco.MjModel, data: mujoco.MjData) -> None: diff --git a/src/mujoco_plex/mujoco_plex/.gitignore b/src/mujoco_plex/mujoco_plex/.gitignore new file mode 100644 index 0000000000..78b6acfb11 --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/.gitignore @@ -0,0 +1,3 @@ +site/ +__pycache__/ +*.pyc diff --git a/src/mujoco_plex/mujoco_plex/README.md b/src/mujoco_plex/mujoco_plex/README.md new file mode 100644 index 0000000000..6600626149 --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/README.md @@ -0,0 +1,13 @@ +# MuJoCo ANYmal C 四足机器人仿真 + +基于 MuJoCo 的 ANYmal C 四足机器人加载、可视化与周期性腿部摆动控制。 + +## 运行方式 + +```bash +cd src/mujoco_plex +pip install mujoco numpy -i https://pypi.tuna.tsinghua.edu.cn/simple +python main.py +``` + +详细文档见 [docs/mujoco_plex/README.md](../../docs/mujoco_plex/README.md)。 diff --git a/src/mujoco_plex/mujoco_plex/anybotics_anymal_c/anymal_c.xml b/src/mujoco_plex/mujoco_plex/anybotics_anymal_c/anymal_c.xml new file mode 100644 index 0000000000..b0f9179190 --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/anybotics_anymal_c/anymal_c.xml @@ 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b/src/mujoco_plex/mujoco_plex/docs/index.md new file mode 100644 index 0000000000..ff24e10c97 --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/docs/index.md @@ -0,0 +1,237 @@ +# 基于 MuJoCo 的 ANYmal C 四足机器人仿真与控制 + +**仓库地址：** [https://github.com/Liu-Yirun/nn](https://github.com/Liu-Yirun/nn) + +--- + +## 1. 项目概述 + +### 1.1 项目简介 + +本项目基于 MuJoCo 物理仿真引擎，加载 DeepMind MuJoCo Menagerie 中的 **ANYmal C** 四足机器人模型，实现模型加载、可视化仿真、周期性腿部摆动控制与运行状态监控。项目从 ANYmal B 模型起步，经路径适配、稳定性优化、工程化重构与功能增强，形成可跨设备运行的仿真基线。 + +### 1.2 项目整体流程 + +``` +加载 MJCF 模型 → 配置初始位姿与物理参数 → 启动被动可视化窗口 + → 自动正弦摆动控制 → mj_step 物理步进 → 定时打印关节/速度日志 +``` + +### 1.3 项目模块总览 + +| 模块 | 函数 | 核心功能 | +| ---- | ---- | -------- | +| 配置中心 | `CONFIG` | 集中管理模型路径、位姿、仿真步长、帧率、摆动参数 | +| 模型加载 | `load_mujoco_model` | 路径校验、异常捕获、模型信息打印 | +| 机器人初始化 | `configure_robot` | 设置基座位姿、重力、时间步、控制量清零 | +| 摆动控制 | `auto_swing_control` | 正弦周期驱动前 6 个关节，无需键盘输入 | +| 姿态复位 | `reset_robot` | 恢复基座、关节、速度与仿真时钟 | +| 仿真主循环 | `run_simulation` | 帧率控制、步进、画面同步、状态日志 | + +### 1.4 核心技术特点 + +| 特点 | 说明 | +| ---- | ---- | +| 相对路径部署 | 使用 `anybotics_anymal_c/anymal_c.xml`，脱离固定盘符 | +| 模块化设计 | 配置、加载、控制、仿真循环分离，便于二次开发 | +| 自动摆动控制 | 正弦波驱动腿部关节，可开关、可调幅度与频率 | +| 运行监控 | 定时输出运行时长、仿真时间、关节角与机身线速度 | +| 稳定帧率 | 目标 60 FPS，避免仿真过快导致可视化卡顿 | + +### 1.5 项目核心目标 + +1. 在 MuJoCo 中稳定加载并可视化 ANYmal C 四足机器人 +2. 实现可配置的周期性腿部摆动，用于步态调试 +3. 提供清晰的日志输出，支持仿真过程监控 +4. 形成工程化代码结构，便于后续接入强化学习控制 + +--- + +## 2. 快速上手 + +### 2.1 运行环境 + +| 类别 | 要求 | +| ---- | ---- | +| 操作系统 | Windows 10/11 | +| Python | 3.8 及以上 | +| 物理仿真 | MuJoCo 2.2.2+ | + +### 2.2 依赖安装 + +在项目目录（`mujoco_plex`）打开 PowerShell，执行： + +```bash +pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple +``` + +### 2.3 启动仿真 + +```bash +python main.py +``` + +启动后将打开 MuJoCo 被动可视化窗口，机器人腿部自动周期摆动；关闭窗口即可退出。 + +### 2.4 常用配置参数 + +在 `main.py` 顶部 `CONFIG` 字典中修改： + +```python +CONFIG = { + "model_path": "anybotics_anymal_c/anymal_c.xml", + "base_pos": (0.0, 0.0, 0.5), # 基座初始位置 + "time_step": 0.002, # 仿真步长 + "target_fps": 60, # 目标帧率 + "auto_swing_enable": True, # 自动摆动开关 + "joint_swing_amp": 0.4, # 摆动幅度 + "swing_freq": 1.0, # 摆动频率 (Hz) + "print_interval": 1.0, # 日志打印间隔 (秒) +} +``` + +--- + +## 3. 代码模块详解 + +### 3.1 模型加载 `load_mujoco_model` + +- 校验路径类型与文件是否存在 +- 调用 `mujoco.MjModel.from_xml_path` 加载 MJCF +- 打印机身、关节、执行器数量，便于调试索引 + +### 3.2 机器人初始化 `configure_robot` + +- 设置 `base` 刚体初始位置与四元数姿态 +- 配置仿真时间步与重力 +- 将控制量 `data.ctrl` 清零 + +### 3.3 自动摆动 `auto_swing_control` + +对前 6 个执行器施加正弦控制： + +$$ +u(t) = A \sin(2\pi f t) +$$ + +其中 $A$ 为 `joint_swing_amp`，$f$ 为 `swing_freq`。关闭 `auto_swing_enable` 时控制量归零。 + +### 3.4 仿真主循环 `run_simulation` + +每帧执行：摆动控制 → `mj_step` → `viewer.sync` → 帧率休眠。按 `print_interval` 输出： + +- 程序运行时长与 MuJoCo 仿真时钟 +- 前 6 个关节角度（`qpos[7:13]`） +- 机身线速度（`cvel` 线速度分量） + +--- + +## 4. 项目目录结构 + +```text +mujoco_plex/ +├── main.py # 主程序入口 +├── index.md # 项目文档（本页） +├── mkdocs.yml # MkDocs 站点配置 +├── requirements.txt # Python 依赖 +├── anybotics_anymal_c/ # ANYmal C 模型资源 +│ ├── anymal_c.xml +│ └── assets/ # 3D 网格 (.obj) +└── mjmodel.xml # 备用模型文件 +``` + +--- + +## 5. 开发迭代记录 + +### 提交 1：初始版本 — 本地绝对路径加载 ANYmal B + +- 使用本地绝对路径加载 `anymal_b.xml` +- 实现基础 `mj_step` 与可视化窗口 + +### 提交 2：路径适配 — 相对路径部署 + +- 改为 `anybotics_anymal_b/anymal_b.xml` +- 支持将模型文件夹放在代码同级目录 + +### 提交 3：防掉落优化 — 基座固定与物理调参 + +- 锁定基座位姿，调整碰撞与摩擦参数 +- 初始化关节控制量，保持站立姿态 + +### 提交 4：模型切换 — ANYmal C + 版权声明 + +- 切换为 `anybotics_anymal_c/anymal_c.xml` +- 补充 ANYbotics BSD 开源协议说明 + +### 提交 5：工程化重构 — CONFIG + 模块化 + +- 引入 `CONFIG` 配置字典 +- 拆分加载、初始化、仿真循环函数 +- 完善类型注解与异常处理 + +### 提交 6：稳定性修复 — qpos/qvel 实时约束 + +- 每帧重置根刚体位姿与速度，消除坠落与漂移 + +### 提交 7：高度微调 + +- 上调基座 Z 轴高度，避免与地面穿模 + +### 提交 8：功能增强 — 运行日志与关节监控 + +- 新增运行时长、仿真时间、关节角度定时打印 +- 新增机身线速度输出 + +### 提交 9：自动摆动控制（当前版本） + +- 移除键盘依赖，改为正弦周期自动驱动腿部 +- 新增 `reset_robot` 复位函数 +- 保留帧率控制与模块化结构 + +--- + +## 6. 优化总结 + +| 维度 | 改进内容 | +| ---- | -------- | +| 路径适配 | 绝对路径 → 相对路径，跨设备运行 | +| 稳定性 | 物理参数调优、位姿与速度约束，解决掉落与穿模 | +| 代码架构 | 配置中心化、函数模块化、完善异常处理 | +| 调试能力 | 关节角度、线速度、运行时长周期性日志 | +| 控制方式 | 自动正弦摆动，参数可在 CONFIG 中调节 | + +--- + +## 7. 现存不足与后续方向 + +### 7.1 现存不足 + +- 当前为开环正弦摆动，未实现真实步态或平衡控制 +- 未接入强化学习训练环境 +- 缺少与地面的完整场景 XML（scene.xml） + +### 7.2 后续优化 + +- 引入 PD 控制器实现支撑相 / 摆动相步态 +- 搭建 Gymnasium 环境，接入 PPO / SAC 步态学习 +- 增加域随机化与课程学习，提升策略鲁棒性 +- 参考课程仓库中 `mujoco_running`、`mujoco_hci_sim` 项目的分层控制架构 + +--- + +## 8. 本地预览文档站点 + +安装依赖后，在项目目录执行： + +```bash +mkdocs serve +``` + +浏览器访问 `http://127.0.0.1:8000` 预览本文档页面。 + +--- + +## 9. 总结 + +本项目完成了 ANYmal C 四足机器人在 MuJoCo 中的加载、可视化与周期性腿部控制，历经路径适配、稳定性修复与工程化重构，形成结构清晰、可扩展的仿真基线。代码支持参数化配置与运行监控，可作为四足机器人运动控制与强化学习研究的起点。 diff --git a/src/mujoco_plex/mujoco_plex/index.md b/src/mujoco_plex/mujoco_plex/index.md new file mode 100644 index 0000000000..ff24e10c97 --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/index.md @@ -0,0 +1,237 @@ +# 基于 MuJoCo 的 ANYmal C 四足机器人仿真与控制 + +**仓库地址：** [https://github.com/Liu-Yirun/nn](https://github.com/Liu-Yirun/nn) + +--- + +## 1. 项目概述 + +### 1.1 项目简介 + +本项目基于 MuJoCo 物理仿真引擎，加载 DeepMind MuJoCo Menagerie 中的 **ANYmal C** 四足机器人模型，实现模型加载、可视化仿真、周期性腿部摆动控制与运行状态监控。项目从 ANYmal B 模型起步，经路径适配、稳定性优化、工程化重构与功能增强，形成可跨设备运行的仿真基线。 + +### 1.2 项目整体流程 + +``` +加载 MJCF 模型 → 配置初始位姿与物理参数 → 启动被动可视化窗口 + → 自动正弦摆动控制 → mj_step 物理步进 → 定时打印关节/速度日志 +``` + +### 1.3 项目模块总览 + +| 模块 | 函数 | 核心功能 | +| ---- | ---- | -------- | +| 配置中心 | `CONFIG` | 集中管理模型路径、位姿、仿真步长、帧率、摆动参数 | +| 模型加载 | `load_mujoco_model` | 路径校验、异常捕获、模型信息打印 | +| 机器人初始化 | `configure_robot` | 设置基座位姿、重力、时间步、控制量清零 | +| 摆动控制 | `auto_swing_control` | 正弦周期驱动前 6 个关节，无需键盘输入 | +| 姿态复位 | `reset_robot` | 恢复基座、关节、速度与仿真时钟 | +| 仿真主循环 | `run_simulation` | 帧率控制、步进、画面同步、状态日志 | + +### 1.4 核心技术特点 + +| 特点 | 说明 | +| ---- | ---- | +| 相对路径部署 | 使用 `anybotics_anymal_c/anymal_c.xml`，脱离固定盘符 | +| 模块化设计 | 配置、加载、控制、仿真循环分离，便于二次开发 | +| 自动摆动控制 | 正弦波驱动腿部关节，可开关、可调幅度与频率 | +| 运行监控 | 定时输出运行时长、仿真时间、关节角与机身线速度 | +| 稳定帧率 | 目标 60 FPS，避免仿真过快导致可视化卡顿 | + +### 1.5 项目核心目标 + +1. 在 MuJoCo 中稳定加载并可视化 ANYmal C 四足机器人 +2. 实现可配置的周期性腿部摆动，用于步态调试 +3. 提供清晰的日志输出，支持仿真过程监控 +4. 形成工程化代码结构，便于后续接入强化学习控制 + +--- + +## 2. 快速上手 + +### 2.1 运行环境 + +| 类别 | 要求 | +| ---- | ---- | +| 操作系统 | Windows 10/11 | +| Python | 3.8 及以上 | +| 物理仿真 | MuJoCo 2.2.2+ | + +### 2.2 依赖安装 + +在项目目录（`mujoco_plex`）打开 PowerShell，执行： + +```bash +pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple +``` + +### 2.3 启动仿真 + +```bash +python main.py +``` + +启动后将打开 MuJoCo 被动可视化窗口，机器人腿部自动周期摆动；关闭窗口即可退出。 + +### 2.4 常用配置参数 + +在 `main.py` 顶部 `CONFIG` 字典中修改： + +```python +CONFIG = { + "model_path": "anybotics_anymal_c/anymal_c.xml", + "base_pos": (0.0, 0.0, 0.5), # 基座初始位置 + "time_step": 0.002, # 仿真步长 + "target_fps": 60, # 目标帧率 + "auto_swing_enable": True, # 自动摆动开关 + "joint_swing_amp": 0.4, # 摆动幅度 + "swing_freq": 1.0, # 摆动频率 (Hz) + "print_interval": 1.0, # 日志打印间隔 (秒) +} +``` + +--- + +## 3. 代码模块详解 + +### 3.1 模型加载 `load_mujoco_model` + +- 校验路径类型与文件是否存在 +- 调用 `mujoco.MjModel.from_xml_path` 加载 MJCF +- 打印机身、关节、执行器数量，便于调试索引 + +### 3.2 机器人初始化 `configure_robot` + +- 设置 `base` 刚体初始位置与四元数姿态 +- 配置仿真时间步与重力 +- 将控制量 `data.ctrl` 清零 + +### 3.3 自动摆动 `auto_swing_control` + +对前 6 个执行器施加正弦控制： + +$$ +u(t) = A \sin(2\pi f t) +$$ + +其中 $A$ 为 `joint_swing_amp`，$f$ 为 `swing_freq`。关闭 `auto_swing_enable` 时控制量归零。 + +### 3.4 仿真主循环 `run_simulation` + +每帧执行：摆动控制 → `mj_step` → `viewer.sync` → 帧率休眠。按 `print_interval` 输出： + +- 程序运行时长与 MuJoCo 仿真时钟 +- 前 6 个关节角度（`qpos[7:13]`） +- 机身线速度（`cvel` 线速度分量） + +--- + +## 4. 项目目录结构 + +```text +mujoco_plex/ +├── main.py # 主程序入口 +├── index.md # 项目文档（本页） +├── mkdocs.yml # MkDocs 站点配置 +├── requirements.txt # Python 依赖 +├── anybotics_anymal_c/ # ANYmal C 模型资源 +│ ├── anymal_c.xml +│ └── assets/ # 3D 网格 (.obj) +└── mjmodel.xml # 备用模型文件 +``` + +--- + +## 5. 开发迭代记录 + +### 提交 1：初始版本 — 本地绝对路径加载 ANYmal B + +- 使用本地绝对路径加载 `anymal_b.xml` +- 实现基础 `mj_step` 与可视化窗口 + +### 提交 2：路径适配 — 相对路径部署 + +- 改为 `anybotics_anymal_b/anymal_b.xml` +- 支持将模型文件夹放在代码同级目录 + +### 提交 3：防掉落优化 — 基座固定与物理调参 + +- 锁定基座位姿，调整碰撞与摩擦参数 +- 初始化关节控制量，保持站立姿态 + +### 提交 4：模型切换 — ANYmal C + 版权声明 + +- 切换为 `anybotics_anymal_c/anymal_c.xml` +- 补充 ANYbotics BSD 开源协议说明 + +### 提交 5：工程化重构 — CONFIG + 模块化 + +- 引入 `CONFIG` 配置字典 +- 拆分加载、初始化、仿真循环函数 +- 完善类型注解与异常处理 + +### 提交 6：稳定性修复 — qpos/qvel 实时约束 + +- 每帧重置根刚体位姿与速度，消除坠落与漂移 + +### 提交 7：高度微调 + +- 上调基座 Z 轴高度，避免与地面穿模 + +### 提交 8：功能增强 — 运行日志与关节监控 + +- 新增运行时长、仿真时间、关节角度定时打印 +- 新增机身线速度输出 + +### 提交 9：自动摆动控制（当前版本） + +- 移除键盘依赖，改为正弦周期自动驱动腿部 +- 新增 `reset_robot` 复位函数 +- 保留帧率控制与模块化结构 + +--- + +## 6. 优化总结 + +| 维度 | 改进内容 | +| ---- | -------- | +| 路径适配 | 绝对路径 → 相对路径，跨设备运行 | +| 稳定性 | 物理参数调优、位姿与速度约束，解决掉落与穿模 | +| 代码架构 | 配置中心化、函数模块化、完善异常处理 | +| 调试能力 | 关节角度、线速度、运行时长周期性日志 | +| 控制方式 | 自动正弦摆动，参数可在 CONFIG 中调节 | + +--- + +## 7. 现存不足与后续方向 + +### 7.1 现存不足 + +- 当前为开环正弦摆动，未实现真实步态或平衡控制 +- 未接入强化学习训练环境 +- 缺少与地面的完整场景 XML（scene.xml） + +### 7.2 后续优化 + +- 引入 PD 控制器实现支撑相 / 摆动相步态 +- 搭建 Gymnasium 环境，接入 PPO / SAC 步态学习 +- 增加域随机化与课程学习，提升策略鲁棒性 +- 参考课程仓库中 `mujoco_running`、`mujoco_hci_sim` 项目的分层控制架构 + +--- + +## 8. 本地预览文档站点 + +安装依赖后，在项目目录执行： + +```bash +mkdocs serve +``` + +浏览器访问 `http://127.0.0.1:8000` 预览本文档页面。 + +--- + +## 9. 总结 + +本项目完成了 ANYmal C 四足机器人在 MuJoCo 中的加载、可视化与周期性腿部控制，历经路径适配、稳定性修复与工程化重构，形成结构清晰、可扩展的仿真基线。代码支持参数化配置与运行监控，可作为四足机器人运动控制与强化学习研究的起点。 diff --git a/src/mujoco_plex/mujoco_plex/main.py b/src/mujoco_plex/mujoco_plex/main.py new file mode 100644 index 0000000000..f781a7a231 --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/main.py @@ -0,0 +1,144 @@ +import os +import time +from typing import Optional, Tuple +import numpy as np + +import mujoco +import mujoco.viewer + +# ===================== 配置中心（便于维护）===================== +CONFIG = { + "model_path": "anybotics_anymal_c/anymal_c.xml", + "base_body": "base", + "base_pos": (0.0, 0.0, 0.5), + "base_quat": (1.0, 0.0, 0.0, 0.0), + "time_step": 0.002, + "gravity": (0.0, 0.0, -9.81), + "target_fps": 60, + "print_interval": 1.0, # 打印间隔(秒) + # 新增配置项 + "auto_swing_enable": True, # 自动腿部周期摆动开关 + "joint_swing_amp": 0.4, # 关节摆动幅度 + "swing_freq": 1.0, # 腿部摆动频率 + "show_body_vel": True, # 打印机身线速度 +} + +# ===================== 模型加载 ===================== +def load_mujoco_model(model_path: str) -> Optional[Tuple[mujoco.MjModel, mujoco.MjData]]: + """加载 MuJoCo 模型，带路径校验与异常捕获""" + if not isinstance(model_path, str): + print(f"❌ 模型路径必须为字符串，当前类型：{type(model_path)}") + return None + + abs_path = os.path.abspath(model_path) + if not os.path.isfile(abs_path): + print(f"❌ 模型不存在：{abs_path}") + return None + + try: + model = mujoco.MjModel.from_xml_path(abs_path) + data = mujoco.MjData(model) + print(f"✅ 模型加载成功：{abs_path}") + # 新增：打印模型基础信息（机身、关节数量） + print(f"📊 模型信息：机身总数={model.nbody}, 关节总数={model.njnt}, 执行器数量={model.nu}") + return model, data + except Exception as e: + print(f"❌ 模型加载失败：{e}") + return None + +# ===================== 机器人初始化 ===================== +def configure_robot(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """配置机器人初始状态与仿真参数""" + base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) + + if base_id >= 0: + model.body_pos[base_id][:3] = CONFIG["base_pos"] + model.body_quat[base_id][:4] = CONFIG["base_quat"] + + # 仿真参数 + model.opt.timestep = CONFIG["time_step"] + model.opt.gravity[:] = CONFIG["gravity"] + + # 控制量清零 + data.ctrl[:] = 0.0 + +# ===================== 新增：自动腿部摆动逻辑（移除按键依赖） ===================== +def auto_swing_control(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """自动周期性腿部摆动，无键盘依赖""" + if not CONFIG["auto_swing_enable"]: + data.ctrl[:6] = 0.0 + return + t = data.time + amp = CONFIG["joint_swing_amp"] + freq = CONFIG["swing_freq"] + swing_val = amp * np.sin(2 * np.pi * freq * t) + data.ctrl[:6] = swing_val + +# ===================== 重置机器人姿态函数 ===================== +def reset_robot(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """恢复机器人初始基座、关节、速度、仿真时间""" + base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) + data.qpos[:] = 0.0 + data.qpos[0:3] = CONFIG["base_pos"] + data.qpos[3:7] = CONFIG["base_quat"] + data.qvel[:] = 0.0 + data.time = 0.0 + data.ctrl[:] = 0.0 + print("🔄 已重置机器人初始姿态") + +# ===================== 仿真主循环 ===================== +def run_simulation(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """运行稳定帧率仿真""" + print("✅ 仿真启动成功 | 关闭窗口退出") + print("ℹ️ 自动摆动说明：修改CONFIG['auto_swing_enable']可开关腿部周期运动；调用reset_robot()可复位机器人") + frame_interval = 1.0 / CONFIG["target_fps"] + print_timer = 0.0 + sim_start_time = time.perf_counter() + + with mujoco.viewer.launch_passive(model, data) as viewer: + while viewer.is_running(): + t_start = time.perf_counter() + current_sim_time = data.time + + # 执行自动腿部摆动控制 + auto_swing_control(model, data) + + # 仿真步进 + mujoco.mj_step(model, data) + viewer.sync() + + # 定时打印仿真时长 + 关节角度 + if current_sim_time - print_timer >= CONFIG["print_interval"]: + run_duration = time.perf_counter() - sim_start_time + print(f"【运行时长】{run_duration:.2f}s | 仿真时间: {current_sim_time:.2f}s") + joint_qpos = data.qpos[7:] # 前7维为基座位姿，后续为关节 + print(f"【关节角度】{joint_qpos[:6].round(3)}") + # 新增：机身线速度打印 + if CONFIG["show_body_vel"]: + base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) + body_lin_vel = data.cvel[base_id][3:6] + print(f"【机身线速度】x:{body_lin_vel[0]:.3f} y:{body_lin_vel[1]:.3f} z:{body_lin_vel[2]:.3f}") + print_timer = current_sim_time + + # 帧率控制 + elapsed = time.perf_counter() - t_start + if elapsed < frame_interval: + time.sleep(frame_interval - elapsed) + +# ===================== 主入口 ===================== +def main() -> None: + model_data = load_mujoco_model(CONFIG["model_path"]) + if not model_data: + return + + model, data = model_data + configure_robot(model, data) + run_simulation(model, data) + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\n✅ 程序手动退出") + except Exception as e: + print(f"\n❌ 运行错误：{e}") \ No newline at end of file diff --git a/src/mujoco_plex/mujoco_plex/mjmodel.xml b/src/mujoco_plex/mujoco_plex/mjmodel.xml new file mode 100644 index 0000000000..e0231b706e --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/mjmodel.xml @@ -0,0 +1,267 @@ + + + + diff --git a/src/mujoco_plex/mujoco_plex/mkdocs.yml b/src/mujoco_plex/mujoco_plex/mkdocs.yml new file mode 100644 index 0000000000..4a20d25b6e --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/mkdocs.yml @@ -0,0 +1,34 @@ +site_name: MuJoCo ANYmal 四足机器人仿真 +site_url: https://liu-yirun.github.io/nn/ + +repo_url: https://github.com/Liu-Yirun/nn +edit_uri: edit/main/docs/ + +theme: + name: readthedocs + sticky_navigation: True + navigation_depth: 3 + features: + - search.suggest + +extra_javascript: + - https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.4/MathJax.js?config=TeX-AMS-MML_HTMLorMML + +plugins: + - search: + lang: zh + separator: '[\s\-\.]+' + min_search_length: 3 + +extra: + generator: false + +copyright: OpenHUTB 版权所有 © {year} + +nav: + - 首页: index.md + +markdown_extensions: + - admonition + - mdx_math + - tables diff --git a/src/mujoco_plex/mujoco_plex/requirements.txt b/src/mujoco_plex/mujoco_plex/requirements.txt new file mode 100644 index 0000000000..58fffddf6b --- /dev/null +++ b/src/mujoco_plex/mujoco_plex/requirements.txt @@ -0,0 +1,4 @@ +mkdocs +python-markdown-math +mujoco>=2.2.2 +numpy diff --git a/src/mujoco_plex/nn_bundle/docs/mujoco_plex/README.md b/src/mujoco_plex/nn_bundle/docs/mujoco_plex/README.md new file mode 100644 index 0000000000..ff24e10c97 --- /dev/null +++ b/src/mujoco_plex/nn_bundle/docs/mujoco_plex/README.md @@ -0,0 +1,237 @@ +# 基于 MuJoCo 的 ANYmal C 四足机器人仿真与控制 + +**仓库地址：** [https://github.com/Liu-Yirun/nn](https://github.com/Liu-Yirun/nn) + +--- + +## 1. 项目概述 + +### 1.1 项目简介 + +本项目基于 MuJoCo 物理仿真引擎，加载 DeepMind MuJoCo Menagerie 中的 **ANYmal C** 四足机器人模型，实现模型加载、可视化仿真、周期性腿部摆动控制与运行状态监控。项目从 ANYmal B 模型起步，经路径适配、稳定性优化、工程化重构与功能增强，形成可跨设备运行的仿真基线。 + +### 1.2 项目整体流程 + +``` +加载 MJCF 模型 → 配置初始位姿与物理参数 → 启动被动可视化窗口 + → 自动正弦摆动控制 → mj_step 物理步进 → 定时打印关节/速度日志 +``` + +### 1.3 项目模块总览 + +| 模块 | 函数 | 核心功能 | +| ---- | ---- | -------- | +| 配置中心 | `CONFIG` | 集中管理模型路径、位姿、仿真步长、帧率、摆动参数 | +| 模型加载 | `load_mujoco_model` | 路径校验、异常捕获、模型信息打印 | +| 机器人初始化 | `configure_robot` | 设置基座位姿、重力、时间步、控制量清零 | +| 摆动控制 | `auto_swing_control` | 正弦周期驱动前 6 个关节，无需键盘输入 | +| 姿态复位 | `reset_robot` | 恢复基座、关节、速度与仿真时钟 | +| 仿真主循环 | `run_simulation` | 帧率控制、步进、画面同步、状态日志 | + +### 1.4 核心技术特点 + +| 特点 | 说明 | +| ---- | ---- | +| 相对路径部署 | 使用 `anybotics_anymal_c/anymal_c.xml`，脱离固定盘符 | +| 模块化设计 | 配置、加载、控制、仿真循环分离，便于二次开发 | +| 自动摆动控制 | 正弦波驱动腿部关节，可开关、可调幅度与频率 | +| 运行监控 | 定时输出运行时长、仿真时间、关节角与机身线速度 | +| 稳定帧率 | 目标 60 FPS，避免仿真过快导致可视化卡顿 | + +### 1.5 项目核心目标 + +1. 在 MuJoCo 中稳定加载并可视化 ANYmal C 四足机器人 +2. 实现可配置的周期性腿部摆动，用于步态调试 +3. 提供清晰的日志输出，支持仿真过程监控 +4. 形成工程化代码结构，便于后续接入强化学习控制 + +--- + +## 2. 快速上手 + +### 2.1 运行环境 + +| 类别 | 要求 | +| ---- | ---- | +| 操作系统 | Windows 10/11 | +| Python | 3.8 及以上 | +| 物理仿真 | MuJoCo 2.2.2+ | + +### 2.2 依赖安装 + +在项目目录（`mujoco_plex`）打开 PowerShell，执行： + +```bash +pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple +``` + +### 2.3 启动仿真 + +```bash +python main.py +``` + +启动后将打开 MuJoCo 被动可视化窗口，机器人腿部自动周期摆动；关闭窗口即可退出。 + +### 2.4 常用配置参数 + +在 `main.py` 顶部 `CONFIG` 字典中修改： + +```python +CONFIG = { + "model_path": "anybotics_anymal_c/anymal_c.xml", + "base_pos": (0.0, 0.0, 0.5), # 基座初始位置 + "time_step": 0.002, # 仿真步长 + "target_fps": 60, # 目标帧率 + "auto_swing_enable": True, # 自动摆动开关 + "joint_swing_amp": 0.4, # 摆动幅度 + "swing_freq": 1.0, # 摆动频率 (Hz) + "print_interval": 1.0, # 日志打印间隔 (秒) +} +``` + +--- + +## 3. 代码模块详解 + +### 3.1 模型加载 `load_mujoco_model` + +- 校验路径类型与文件是否存在 +- 调用 `mujoco.MjModel.from_xml_path` 加载 MJCF +- 打印机身、关节、执行器数量，便于调试索引 + +### 3.2 机器人初始化 `configure_robot` + +- 设置 `base` 刚体初始位置与四元数姿态 +- 配置仿真时间步与重力 +- 将控制量 `data.ctrl` 清零 + +### 3.3 自动摆动 `auto_swing_control` + +对前 6 个执行器施加正弦控制： + +$$ +u(t) = A \sin(2\pi f t) +$$ + +其中 $A$ 为 `joint_swing_amp`，$f$ 为 `swing_freq`。关闭 `auto_swing_enable` 时控制量归零。 + +### 3.4 仿真主循环 `run_simulation` + +每帧执行：摆动控制 → `mj_step` → `viewer.sync` → 帧率休眠。按 `print_interval` 输出： + +- 程序运行时长与 MuJoCo 仿真时钟 +- 前 6 个关节角度（`qpos[7:13]`） +- 机身线速度（`cvel` 线速度分量） + +--- + +## 4. 项目目录结构 + +```text +mujoco_plex/ +├── main.py # 主程序入口 +├── index.md # 项目文档（本页） +├── mkdocs.yml # MkDocs 站点配置 +├── requirements.txt # Python 依赖 +├── anybotics_anymal_c/ # ANYmal C 模型资源 +│ ├── anymal_c.xml +│ └── assets/ # 3D 网格 (.obj) +└── mjmodel.xml # 备用模型文件 +``` + +--- + +## 5. 开发迭代记录 + +### 提交 1：初始版本 — 本地绝对路径加载 ANYmal B + +- 使用本地绝对路径加载 `anymal_b.xml` +- 实现基础 `mj_step` 与可视化窗口 + +### 提交 2：路径适配 — 相对路径部署 + +- 改为 `anybotics_anymal_b/anymal_b.xml` +- 支持将模型文件夹放在代码同级目录 + +### 提交 3：防掉落优化 — 基座固定与物理调参 + +- 锁定基座位姿，调整碰撞与摩擦参数 +- 初始化关节控制量，保持站立姿态 + +### 提交 4：模型切换 — ANYmal C + 版权声明 + +- 切换为 `anybotics_anymal_c/anymal_c.xml` +- 补充 ANYbotics BSD 开源协议说明 + +### 提交 5：工程化重构 — CONFIG + 模块化 + +- 引入 `CONFIG` 配置字典 +- 拆分加载、初始化、仿真循环函数 +- 完善类型注解与异常处理 + +### 提交 6：稳定性修复 — qpos/qvel 实时约束 + +- 每帧重置根刚体位姿与速度，消除坠落与漂移 + +### 提交 7：高度微调 + +- 上调基座 Z 轴高度，避免与地面穿模 + +### 提交 8：功能增强 — 运行日志与关节监控 + +- 新增运行时长、仿真时间、关节角度定时打印 +- 新增机身线速度输出 + +### 提交 9：自动摆动控制（当前版本） + +- 移除键盘依赖，改为正弦周期自动驱动腿部 +- 新增 `reset_robot` 复位函数 +- 保留帧率控制与模块化结构 + +--- + +## 6. 优化总结 + +| 维度 | 改进内容 | +| ---- | -------- | +| 路径适配 | 绝对路径 → 相对路径，跨设备运行 | +| 稳定性 | 物理参数调优、位姿与速度约束，解决掉落与穿模 | +| 代码架构 | 配置中心化、函数模块化、完善异常处理 | +| 调试能力 | 关节角度、线速度、运行时长周期性日志 | +| 控制方式 | 自动正弦摆动，参数可在 CONFIG 中调节 | + +--- + +## 7. 现存不足与后续方向 + +### 7.1 现存不足 + +- 当前为开环正弦摆动，未实现真实步态或平衡控制 +- 未接入强化学习训练环境 +- 缺少与地面的完整场景 XML（scene.xml） + +### 7.2 后续优化 + +- 引入 PD 控制器实现支撑相 / 摆动相步态 +- 搭建 Gymnasium 环境，接入 PPO / SAC 步态学习 +- 增加域随机化与课程学习，提升策略鲁棒性 +- 参考课程仓库中 `mujoco_running`、`mujoco_hci_sim` 项目的分层控制架构 + +--- + +## 8. 本地预览文档站点 + +安装依赖后，在项目目录执行： + +```bash +mkdocs serve +``` + +浏览器访问 `http://127.0.0.1:8000` 预览本文档页面。 + +--- + +## 9. 总结 + +本项目完成了 ANYmal C 四足机器人在 MuJoCo 中的加载、可视化与周期性腿部控制，历经路径适配、稳定性修复与工程化重构，形成结构清晰、可扩展的仿真基线。代码支持参数化配置与运行监控，可作为四足机器人运动控制与强化学习研究的起点。 diff --git a/src/mujoco_plex/nn_bundle/src/mujoco_plex/README.md b/src/mujoco_plex/nn_bundle/src/mujoco_plex/README.md new file mode 100644 index 0000000000..6600626149 --- /dev/null +++ b/src/mujoco_plex/nn_bundle/src/mujoco_plex/README.md @@ -0,0 +1,13 @@ +# MuJoCo ANYmal C 四足机器人仿真 + +基于 MuJoCo 的 ANYmal C 四足机器人加载、可视化与周期性腿部摆动控制。 + +## 运行方式 + +```bash +cd src/mujoco_plex +pip install mujoco numpy -i https://pypi.tuna.tsinghua.edu.cn/simple +python main.py +``` + +详细文档见 [docs/mujoco_plex/README.md](../../docs/mujoco_plex/README.md)。 diff --git a/src/mujoco_plex/nn_bundle/src/mujoco_plex/anybotics_anymal_c/anymal_c.xml b/src/mujoco_plex/nn_bundle/src/mujoco_plex/anybotics_anymal_c/anymal_c.xml new file mode 100644 index 0000000000..b0f9179190 --- /dev/null +++ b/src/mujoco_plex/nn_bundle/src/mujoco_plex/anybotics_anymal_c/anymal_c.xml @@ -0,0 +1,338 @@ + + + + diff --git a/src/mujoco_plex/nn_bundle/src/mujoco_plex/anybotics_anymal_c/assets/base_0.obj b/src/mujoco_plex/nn_bundle/src/mujoco_plex/anybotics_anymal_c/assets/base_0.obj new file mode 100644 index 0000000000..08cb7478ba --- /dev/null +++ b/src/mujoco_plex/nn_bundle/src/mujoco_plex/anybotics_anymal_c/assets/base_0.obj @@ -0,0 +1,266 @@ +mtllib Black_plastic.001.mtl +usemtl Black_plastic.001 +v -0.00057800 0.02000000 0.08345200 +v -0.01470500 0.00942500 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"anybotics_anymal_c/anymal_c.xml", + "base_body": "base", + "base_pos": (0.0, 0.0, 0.5), + "base_quat": (1.0, 0.0, 0.0, 0.0), + "time_step": 0.002, + "gravity": (0.0, 0.0, -9.81), + "target_fps": 60, + "print_interval": 1.0, # 打印间隔(秒) + # 新增配置项 + "auto_swing_enable": True, # 自动腿部周期摆动开关 + "joint_swing_amp": 0.4, # 关节摆动幅度 + "swing_freq": 1.0, # 腿部摆动频率 + "show_body_vel": True, # 打印机身线速度 +} + +# ===================== 模型加载 ===================== +def load_mujoco_model(model_path: str) -> Optional[Tuple[mujoco.MjModel, mujoco.MjData]]: + """加载 MuJoCo 模型，带路径校验与异常捕获""" + if not isinstance(model_path, str): + print(f"❌ 模型路径必须为字符串，当前类型：{type(model_path)}") + return None + + abs_path = os.path.abspath(model_path) + if not os.path.isfile(abs_path): + print(f"❌ 模型不存在：{abs_path}") + return None + + try: + model = mujoco.MjModel.from_xml_path(abs_path) + data = mujoco.MjData(model) + print(f"✅ 模型加载成功：{abs_path}") + # 新增：打印模型基础信息（机身、关节数量） + print(f"📊 模型信息：机身总数={model.nbody}, 关节总数={model.njnt}, 执行器数量={model.nu}") + return model, data + except Exception as e: + print(f"❌ 模型加载失败：{e}") + return None + +# ===================== 机器人初始化 ===================== +def configure_robot(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """配置机器人初始状态与仿真参数""" + base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) + + if base_id >= 0: + model.body_pos[base_id][:3] = CONFIG["base_pos"] + model.body_quat[base_id][:4] = CONFIG["base_quat"] + + # 仿真参数 + model.opt.timestep = CONFIG["time_step"] + model.opt.gravity[:] = CONFIG["gravity"] + + # 控制量清零 + data.ctrl[:] = 0.0 + +# ===================== 新增：自动腿部摆动逻辑（移除按键依赖） ===================== +def auto_swing_control(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """自动周期性腿部摆动，无键盘依赖""" + if not CONFIG["auto_swing_enable"]: + data.ctrl[:6] = 0.0 + return + t = data.time + amp = CONFIG["joint_swing_amp"] + freq = CONFIG["swing_freq"] + swing_val = amp * np.sin(2 * np.pi * freq * t) + data.ctrl[:6] = swing_val + +# ===================== 重置机器人姿态函数 ===================== +def reset_robot(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """恢复机器人初始基座、关节、速度、仿真时间""" + base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) + data.qpos[:] = 0.0 + data.qpos[0:3] = CONFIG["base_pos"] + data.qpos[3:7] = CONFIG["base_quat"] + data.qvel[:] = 0.0 + data.time = 0.0 + data.ctrl[:] = 0.0 + print("🔄 已重置机器人初始姿态") + +# ===================== 仿真主循环 ===================== +def run_simulation(model: mujoco.MjModel, data: mujoco.MjData) -> None: + """运行稳定帧率仿真""" + print("✅ 仿真启动成功 | 关闭窗口退出") + print("ℹ️ 自动摆动说明：修改CONFIG['auto_swing_enable']可开关腿部周期运动；调用reset_robot()可复位机器人") + frame_interval = 1.0 / CONFIG["target_fps"] + print_timer = 0.0 + sim_start_time = time.perf_counter() + + with mujoco.viewer.launch_passive(model, data) as viewer: + while viewer.is_running(): + t_start = time.perf_counter() + current_sim_time = data.time + + # 执行自动腿部摆动控制 + auto_swing_control(model, data) + + # 仿真步进 + mujoco.mj_step(model, data) + viewer.sync() + + # 定时打印仿真时长 + 关节角度 + if current_sim_time - print_timer >= CONFIG["print_interval"]: + run_duration = time.perf_counter() - sim_start_time + print(f"【运行时长】{run_duration:.2f}s | 仿真时间: {current_sim_time:.2f}s") + joint_qpos = data.qpos[7:] # 前7维为基座位姿，后续为关节 + print(f"【关节角度】{joint_qpos[:6].round(3)}") + # 新增：机身线速度打印 + if CONFIG["show_body_vel"]: + base_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, CONFIG["base_body"]) + body_lin_vel = data.cvel[base_id][3:6] + print(f"【机身线速度】x:{body_lin_vel[0]:.3f} y:{body_lin_vel[1]:.3f} z:{body_lin_vel[2]:.3f}") + print_timer = current_sim_time + + # 帧率控制 + elapsed = time.perf_counter() - t_start + if elapsed < frame_interval: + time.sleep(frame_interval - elapsed) + +# ===================== 主入口 ===================== +def main() -> None: + model_data = load_mujoco_model(CONFIG["model_path"]) + if not model_data: + return + + model, data = model_data + configure_robot(model, data) + run_simulation(model, data) + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + print("\n✅ 程序手动退出") + except Exception as e: + print(f"\n❌ 运行错误：{e}") \ No newline at end of file diff --git a/src/mujoco_plex/nn_bundle/src/mujoco_plex/mjmodel.xml b/src/mujoco_plex/nn_bundle/src/mujoco_plex/mjmodel.xml new file mode 100644 index 0000000000..e0231b706e --- /dev/null +++ b/src/mujoco_plex/nn_bundle/src/mujoco_plex/mjmodel.xml @@ -0,0 +1,267 @@ + + + + diff --git a/src/mujoco_plex/nn_bundle/src/mujoco_plex/requirements.txt b/src/mujoco_plex/nn_bundle/src/mujoco_plex/requirements.txt new file mode 100644 index 0000000000..58fffddf6b --- /dev/null +++ b/src/mujoco_plex/nn_bundle/src/mujoco_plex/requirements.txt @@ -0,0 +1,4 @@ +mkdocs +python-markdown-math +mujoco>=2.2.2 +numpy