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Code Demos

MuJoCo Robot Simulation

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使用 MuJoCo 加载并仿真机械臂

python

import mujoco
import numpy as np

# Load a robot model
xml = """
<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 .9 .9 1"/>
    <body pos="0 0 0.5" euler="0 0 0">
      <joint type="hinge" axis="0 0 1"/>
      <geom type="capsule" size="0.05" fromto="0 0 0 0 0 0.5" rgba="0 .9 0 1"/>
      <body pos="0 0 0.5">
        <joint type="hinge" axis="0 1 0"/>
        <geom type="capsule" size="0.04" fromto="0 0 0 0.4 0 0" rgba="0 0 .9 1"/>
      </body>
    </body>
  </worldbody>
</mujoco>
"""

model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

# Simulate
for i in range(1000):
    mujoco.mj_step(model, data)
    if i % 100 == 0:
        print(f"Step {i}: joint positions = {data.qpos}")