从sim2sim到sim2real
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从sim2sim到sim2real
从sim2sim到sim2real
用户9953用户99538月20日修改
（一）如何进行sim2sim
目前首选Mujoco
打开终端
代码块
wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
tar -zxvf mujoco210-linux-x86_64.tar.gz
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/.mujoco/mujoco210/bin
测试，显示mujoco页面即为正常。
代码块
cd mujoco210/bin
./simulate ../model/humanoid.xml
我们开始修改URDF
1 制作场景scene.xml
代码块
<mujoco model="htdw_4438 scene">
<include file="htdw_4438.xml"/>
<statistic center="0 0 0.1" extent="0.8"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
<geom pos="1.2 0 0.04" type="box" size="0.1 2 0.04" quat="1.0 0 0 0"/>
<geom pos="1.6 0 0.04" type="box" size="0.1 2 0.04" quat="1.0 0 0 0"/>
<geom pos="2.3 0 0.02" type="box" size="0.2 2 0.15" quat="1.0 0 0 0"/>
<geom pos="2.6 0 0.02" type="box" size="0.22 2 0.3" quat="1.0 0 0 0"/>
<geom pos="2.8 0 0.02" type="box" size="0.23 2 0.45" quat="1.0 0 0 0"/>
<geom pos="3 0 0.02" type="box" size="0.24 2 0.6" quat="1.0 0 0 0"/>
<geom pos="3.2 0 0.02" type="box" size="0.25 2 0.75" quat="1.0 0 0 0"/>
<geom pos="3.4 0 0.02" type="box" size="0.26 2 0.9" quat="1.0 0 0 0"/>
</worldbody>
</mujoco>