"use strict"; const {Fragment: _Fragment, jsx: _jsx, jsxs: _jsxs} = arguments[0]; const {useMDXComponents: _provideComponents} = arguments[0]; function _createMdxContent(props) { const _components = { a: "a", annotation: "annotation", code: "code", h1: "h1", h2: "h2", img: "img", li: "li", math: "math", mi: "mi", mn: "mn", mo: "mo", mrow: "mrow", msub: "msub", ol: "ol", p: "p", path: "path", pre: "pre", semantics: "semantics", span: "span", strong: "strong", svg: "svg", ul: "ul", ..._provideComponents(), ...props.components }; return _jsxs(_Fragment, { children: [_jsxs(_components.h1, { id: "依赖安装", children: [_jsx(_components.a, { className: "heading-link", href: "#依赖安装", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "依赖安装"] }), "\n", _jsx(_components.p, { children: "演示版本：" }), "\n", _jsxs(_components.ul, { children: ["\n", _jsx(_components.li, { children: "Ubuntu 24.04 LTS" }), "\n", _jsx(_components.li, { children: "Python 3.12.3" }), "\n"] }), "\n", _jsx(_components.p, { children: "在终端输入以下指令：" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 安装MuJoCo包" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "pip install mujoco\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 检查并安装ffmpeg（用于视频处理）" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["command ", _jsx(_components.span, { className: "token operator", children: "-" }), "v ffmpeg ", _jsx(_components.span, { className: "token operator", children: ">" }), _jsx(_components.span, { className: "token operator", children: "/" }), "dev", _jsx(_components.span, { className: "token operator", children: "/" }), "null ", _jsx(_components.span, { className: "token operator", children: "|" }), _jsx(_components.span, { className: "token operator", children: "|" }), " ", _jsx(_components.span, { className: "token punctuation", children: "(" }), "sudo apt update ", _jsx(_components.span, { className: "token operator", children: "&" }), _jsx(_components.span, { className: "token operator", children: "&" }), " sudo apt install ", _jsx(_components.span, { className: "token operator", children: "-" }), "y ffmpeg", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 安装mediapy（用于显示图像和视频）" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["pip install ", _jsx(_components.span, { className: "token operator", children: "-" }), "q mediapy\n"] })] }) }), "\n", _jsx(_components.p, { children: "在 python 导入以下包：" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 设置GPU渲染" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " distutils", _jsx(_components.span, { className: "token punctuation", children: "." }), "util\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " os\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " subprocess\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 导入MuJoCo包" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " mujoco\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 导入其他必要的库和辅助函数" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " time\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " itertools\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " numpy ", _jsx(_components.span, { className: "token keyword", children: "as" }), " np\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 图形和绘图相关" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " mediapy ", _jsx(_components.span, { className: "token keyword", children: "as" }), " media\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "import" }), " matplotlib", _jsx(_components.span, { className: "token punctuation", children: "." }), "pyplot ", _jsx(_components.span, { className: "token keyword", children: "as" }), " plt\n"] })] }) }), "\n", _jsxs(_components.h1, { id: "模型加载", children: [_jsx(_components.a, { className: "heading-link", href: "#模型加载", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "模型加载"] }), "\n", _jsxs(_components.h2, { id: "mjmodel静态模型描述", children: [_jsx(_components.a, { className: "heading-link", href: "#mjmodel静态模型描述", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "mjModel：静态模型描述"] }), "\n", _jsxs(_components.p, { children: [_jsx(_components.code, { className: "language-auto", children: "mjModel" }), " 是 MuJoCo 的核心数据结构之一，包含所有不随时间变化的量："] }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "几何信息" }), "：几何体的形状、尺寸、颜色等"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "拓扑结构" }), "：刚体之间的连接关系"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "物理参数" }), "：重力、时间步长、求解器设置等"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "视觉属性" }), "：材质、纹理、光照等"] }), "\n"] }), "\n", _jsx(_components.p, { children: "mjModel 从 XML 字符串加载模型，使用 MJCF（MuJoCo 建模格式）编写。" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 定义一个简单的MJCF模型" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["xml ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"\n" })] }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 从XML字符串加载模型" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["model ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjModel", _jsx(_components.span, { className: "token punctuation", children: "." }), "from_xml_string", _jsx(_components.span, { className: "token punctuation", children: "(" }), "xml", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsx(_components.p, { children: _jsx(_components.strong, { children: "元素详解" }) }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "mujoco" }), "：根元素，所有MuJoCo模型都必须包含此元素。最简单的有效模型就是 ", _jsx(_components.code, { className: "language-auto", children: "" })] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "worldbody" }), "：世界主体，代表全局坐标系的原点，所有物理元素都必须位于其中"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "geom" }), "：几何体元素，定义可视化和碰撞检测的形状", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "name" }), "：名称（可选）"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "type" }), "：类型", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "box" }), "：盒子"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "sphere" }), "：球体（默认）"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "size" }), "：尺寸，参数依赖类型", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "box" }), "：盒子中心到 XYZ 三个方向上的面的距离（长宽高的一半）"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "sphere" }), "：半径"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "rgba" }), "：前三个值为颜色的 rgb 值，最后一个值为不透明度 alpha 值"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "pos" }), "：几何体几何中心的位置"] }), "\n"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.p, { children: ["（笔记仅解释代码示例中新出现的内容，完整说明详见 XML 参考文档：", _jsx(_components.a, { href: "https://mujoco.readthedocs.io/en/latest/XMLreference.html%EF%BC%89", target: "_blank", rel: "noopener noreferrer", children: "https://mujoco.readthedocs.io/en/latest/XMLreference.html）" })] }), "\n", _jsx(_components.p, { children: _jsx(_components.strong, { children: "默认值机制" }) }), "\n", _jsx(_components.p, { children: "对于未指定的参数，MJCF 将使用默认值：" }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "red_box" }), " 没有指定位置 → 默认位置是 ", _jsx(_components.code, { className: "language-auto", children: "[0, 0, 0]" })] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "green_sphere" }), " 没有指定类型 → 默认类型是 ", _jsx(_components.code, { className: "language-auto", children: "sphere" })] }), "\n"] }), "\n", _jsx(_components.p, { children: _jsx(_components.strong, { children: "命名访问机制" }) }), "\n", _jsx(_components.p, { children: "命名访问器让我们能够通过名称而非索引来访问模型元素。" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 访问green_sphere的rgba颜色值" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["model", _jsx(_components.span, { className: "token punctuation", children: "." }), "geom", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'green_sphere'" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: "." }), "rgba\n"] })] }) }), "\n", _jsx(_components.pre, { children: _jsx(_components.code, { className: "language-auto code-highlight", children: _jsx(_components.span, { className: "code-line", children: "array([0., 1., 0., 1.], dtype=float32)\n" }) }) }), "\n", _jsx(_components.p, { children: "索引和名称之间可以转换：" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 演示ID和名称之间的转换" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "print" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'green_sphere的ID: '" }), _jsx(_components.span, { className: "token punctuation", children: "," }), " model", _jsx(_components.span, { className: "token punctuation", children: "." }), "geom", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'green_sphere'" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: "." }), _jsx(_components.span, { className: "token builtin", children: "id" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "print" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'ID为1的几何体名称: '" }), _jsx(_components.span, { className: "token punctuation", children: "," }), " model", _jsx(_components.span, { className: "token punctuation", children: "." }), "geom", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token number", children: "1" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: "." }), "name", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "print" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'ID为0的刚体名称: '" }), _jsx(_components.span, { className: "token punctuation", children: "," }), " model", _jsx(_components.span, { className: "token punctuation", children: "." }), "body", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token number", children: "0" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: "." }), "name", _jsx(_components.span, { className: "token punctuation", children: ")" }), " \n"] })] }) }), "\n", _jsx(_components.pre, { children: _jsxs(_components.code, { className: "language-auto code-highlight", children: [_jsx(_components.span, { className: "code-line", children: "green_sphere的ID: 1\n" }), _jsx(_components.span, { className: "code-line", children: "ID为1的几何体名称: green_sphere\n" }), _jsx(_components.span, { className: "code-line", children: "ID为0的刚体名称: world\n" })] }) }), "\n", _jsxs(_components.p, { children: ["第0个刚体始终是 ", _jsx(_components.code, { className: "language-auto", children: "world" }), "（世界主体），它代表全局坐标系，不能被重命名或删除。"] }), "\n", _jsxs(_components.h2, { id: "mjdata动态仿真状态", children: [_jsx(_components.a, { className: "heading-link", href: "#mjdata动态仿真状态", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "mjData：动态仿真状态"] }), "\n", _jsxs(_components.p, { children: [_jsx(_components.code, { className: "language-auto", children: "mjData" }), " 是仿真的“运行时状态”，包含所有", _jsx(_components.strong, { children: "随时间变化" }), "的量，例如："] }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "仿真时间" }), "：", _jsx(_components.code, { className: "language-auto", children: "data.time" })] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "广义坐标" }), "：", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: ["位置：", _jsx(_components.code, { className: "language-auto", children: "data.qpos" }), "（关节空间的位置）"] }), "\n", _jsxs(_components.li, { children: ["速度：", _jsx(_components.code, { className: "language-auto", children: "data.qvel" }), "（关节空间的速度）"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "笛卡尔坐标" }), "：", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: ["位置：", _jsx(_components.code, { className: "language-auto", children: "data.xpos" }), "（世界坐标系中的位置）"] }), "\n", _jsxs(_components.li, { children: ["姿态：", _jsx(_components.code, { className: "language-auto", children: "data.xquat" }), "（四元数表示的姿态）"] }), "\n"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.p, { children: [_jsx(_components.code, { className: "language-auto", children: "mjData" }), " 从 ", _jsx(_components.code, { className: "language-auto", children: "mjModel" }), " 中创建："] }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 创建mjData实例，用于存储仿真状态" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["data ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjData", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsxs(_components.p, { children: ["MuJoCo 采用延迟计算策略，只在需要时调用函数才计算派生量。", _jsx(_components.code, { className: "language-auto", children: "mj_kinematics" }), " 函数执行运动学计算，包括所有物体的笛卡尔位姿。"] }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 调用mj_kinematics计算运动学，更新物体位置" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "mj_kinematics", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: "," }), " data", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 访问绿色球体的位置" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "print" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), "data", _jsx(_components.span, { className: "token punctuation", children: "." }), "geom", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'green_sphere'" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: "." }), "xpos", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsx(_components.pre, { children: _jsx(_components.code, { className: "language-auto code-highlight", children: _jsx(_components.span, { className: "code-line", children: "[0.2 0.2 0.2]\n" }) }) }), "\n", _jsxs(_components.h1, { id: "渲染仿真与动画", children: [_jsx(_components.a, { className: "heading-link", href: "#渲染仿真与动画", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "渲染、仿真与动画"] }), "\n", _jsx(_components.p, { children: "重新加载之前的模型和数据：" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: ["xml ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"\n" })] }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: ["model ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjModel", _jsx(_components.span, { className: "token punctuation", children: "." }), "from_xml_string", _jsx(_components.span, { className: "token punctuation", children: "(" }), "xml", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["data ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjData", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsxs(_components.h2, { id: "静态渲染", children: [_jsx(_components.a, { className: "heading-link", href: "#静态渲染", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "静态渲染"] }), "\n", _jsxs(_components.p, { children: ["静态渲染也需要调用函数延迟计算派生量，", _jsx(_components.code, { className: "language-auto", children: "mj_forward" }), "函数会执行完整的前向动力学计算管道："] }), "\n", _jsxs(_components.ol, { children: ["\n", _jsx(_components.li, { children: "计算运动学（位置、速度）" }), "\n", _jsx(_components.li, { children: "计算动力学（力、力矩）" }), "\n", _jsx(_components.li, { children: "更新传感器读数" }), "\n", _jsx(_components.li, { children: "计算加速度" }), "\n"] }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 创建渲染器并渲染场景" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "with" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "Renderer", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), " ", _jsx(_components.span, { className: "token keyword", children: "as" }), " renderer", _jsx(_components.span, { className: "token punctuation", children: ":" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 执行前向动力学计算，更新所有派生量" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "mj_forward", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: "," }), " data", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 渲染并显示图像" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" media", _jsx(_components.span, { className: "token punctuation", children: "." }), "show_image", _jsx(_components.span, { className: "token punctuation", children: "(" }), "renderer", _jsx(_components.span, { className: "token punctuation", children: "." }), "render", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsx(_components.img, { src: "https://obsidian2flowershow-inkem.flowershow.me/I-%E9%99%84%E4%BB%B6/Pasted%20image%2020250909140238.png", alt: "Pasted image 20250909140238", className: "internal", "data-fs-resolved-file-path": "/I-附件/Pasted image 20250909140238.png" }), "\n", _jsxs(_components.p, { children: ["渲染图像较暗，可添加光源 ", _jsx(_components.code, { className: "language-auto", children: "light" }), " 改善照明："] }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 添加光源改善照明" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["xml ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"\n" })] }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 重新创建模型和数据" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["model ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjModel", _jsx(_components.span, { className: "token punctuation", children: "." }), "from_xml_string", _jsx(_components.span, { className: "token punctuation", children: "(" }), "xml", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["data ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjData", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 渲染带光照的场景" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "with" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "Renderer", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), " ", _jsx(_components.span, { className: "token keyword", children: "as" }), " renderer", _jsx(_components.span, { className: "token punctuation", children: ":" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "mj_forward", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: "," }), " data", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 更新渲染场景" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" renderer", _jsx(_components.span, { className: "token punctuation", children: "." }), "update_scene", _jsx(_components.span, { className: "token punctuation", children: "(" }), "data", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" media", _jsx(_components.span, { className: "token punctuation", children: "." }), "show_image", _jsx(_components.span, { className: "token punctuation", children: "(" }), "renderer", _jsx(_components.span, { className: "token punctuation", children: "." }), "render", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsx(_components.img, { src: "https://obsidian2flowershow-inkem.flowershow.me/I-%E9%99%84%E4%BB%B6/Pasted%20image%2020250909142613.png", alt: "Pasted image 20250909142613", className: "internal", "data-fs-resolved-file-path": "/I-附件/Pasted image 20250909142613.png" }), "\n", _jsxs(_components.h2, { id: "动态仿真", children: [_jsx(_components.a, { className: "heading-link", href: "#动态仿真", children: _jsx(_components.svg, { xmlns: "http:www.w3.org/2000/svg", fill: "#ab2b65", viewBox: "0 0 20 20", className: "w-5 h-5", children: _jsx(_components.path, { fillRule: "evenodd", clipRule: "evenodd", d: "M9.493 2.853a.75.75 0 00-1.486-.205L7.545 6H4.198a.75.75 0 000 1.5h3.14l-.69 5H3.302a.75.75 0 000 1.5h3.14l-.435 3.148a.75.75 0 001.486.205L7.955 14h2.986l-.434 3.148a.75.75 0 001.486.205L12.456 14h3.346a.75.75 0 000-1.5h-3.14l.69-5h3.346a.75.75 0 000-1.5h-3.14l.435-3.147a.75.75 0 00-1.486-.205L12.045 6H9.059l.434-3.147zM8.852 7.5l-.69 5h2.986l.69-5H8.852z" }) }) }), "动态仿真"] }), "\n", _jsx(_components.p, { children: "在实现动态仿真前，我们先为模型添加运动的能力，即自由度。" }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 创建带有运动自由度的模型" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["xml ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"\n" })] }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: " \n" }) }), _jsx(_components.span, { className: "code-line", children: _jsx(_components.span, { className: "token triple-quoted-string string", children: "\n" }) }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token triple-quoted-string string", children: "\"\"\"" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["model ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjModel", _jsx(_components.span, { className: "token punctuation", children: "." }), "from_xml_string", _jsx(_components.span, { className: "token punctuation", children: "(" }), "xml", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["data ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjData", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 创建可视化选项，显示关节轴" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["scene_option ", _jsx(_components.span, { className: "token operator", children: "=" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "MjvOption", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["scene_option", _jsx(_components.span, { className: "token punctuation", children: "." }), "flags", _jsx(_components.span, { className: "token punctuation", children: "[" }), "mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "mjtVisFlag", _jsx(_components.span, { className: "token punctuation", children: "." }), "mjVIS_JOINT", _jsx(_components.span, { className: "token punctuation", children: "]" }), " ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token boolean", children: "True" }), "\n"] })] }) }), "\n", _jsx(_components.p, { children: _jsx(_components.strong, { children: "元素解析" }) }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "body" }), "：刚体，即能够运动的物体", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "euler" }), "：欧拉角，刚体初始分别绕 XYZ 三轴逆时针旋转的角度"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "joint" }), "：关节，定义了刚体相对于其父体的运动方式", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "hinge" }), "：铰链类型关节，提供单一旋转自由度"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "axis" }), "：关节旋转轴的方向向量"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "pos" }), "：关节支点，此处即旋转中心点"] }), "\n"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.p, { children: [_jsx(_components.code, { className: "language-auto", children: "mj_step" }), " 是动态仿真的核心函数，它能将推进仿真一个时间步长（默认为 2 ms）"] }), "\n", _jsx(_components.pre, { className: "language-python", children: _jsxs(_components.code, { className: "language-python code-highlight", children: [_jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 仿真参数" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["duration ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "3.8" }), " ", _jsx(_components.span, { className: "token comment", children: "# 视频时长(秒)" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["framerate ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "60" }), " ", _jsx(_components.span, { className: "token comment", children: "# 渲染频率(Hz)" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 仿真并录制视频" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["frames ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token punctuation", children: "[" }), _jsx(_components.span, { className: "token punctuation", children: "]" }), " ", _jsx(_components.span, { className: "token comment", children: "# 存储视频帧" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "mj_resetData", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: "," }), " data", _jsx(_components.span, { className: "token punctuation", children: ")" }), " ", _jsx(_components.span, { className: "token comment", children: "# 重置状态和时间" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token keyword", children: "with" }), " mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "Renderer", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: ")" }), " ", _jsx(_components.span, { className: "token keyword", children: "as" }), " renderer", _jsx(_components.span, { className: "token punctuation", children: ":" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token keyword", children: "while" }), " data", _jsx(_components.span, { className: "token punctuation", children: "." }), "time ", _jsx(_components.span, { className: "token operator", children: "<" }), " duration", _jsx(_components.span, { className: "token punctuation", children: ":" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 推进一个时间步" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" mujoco", _jsx(_components.span, { className: "token punctuation", children: "." }), "mj_step", _jsx(_components.span, { className: "token punctuation", children: "(" }), "model", _jsx(_components.span, { className: "token punctuation", children: "," }), " data", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: " \n" }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 将500Hz的仿真频率降采样为60Hz的渲染频率" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token keyword", children: "if" }), " ", _jsx(_components.span, { className: "token builtin", children: "len" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), "frames", _jsx(_components.span, { className: "token punctuation", children: ")" }), " ", _jsx(_components.span, { className: "token operator", children: "<" }), " data", _jsx(_components.span, { className: "token punctuation", children: "." }), "time ", _jsx(_components.span, { className: "token operator", children: "*" }), " framerate", _jsx(_components.span, { className: "token punctuation", children: ":" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 使用scene_option参数来显示关节" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" renderer", _jsx(_components.span, { className: "token punctuation", children: "." }), "update_scene", _jsx(_components.span, { className: "token punctuation", children: "(" }), "data", _jsx(_components.span, { className: "token punctuation", children: "," }), " scene_option", _jsx(_components.span, { className: "token operator", children: "=" }), "scene_option", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" pixels ", _jsx(_components.span, { className: "token operator", children: "=" }), " renderer", _jsx(_components.span, { className: "token punctuation", children: "." }), "render", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" frames", _jsx(_components.span, { className: "token punctuation", children: "." }), "append", _jsx(_components.span, { className: "token punctuation", children: "(" }), "pixels", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 显示视频" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["media", _jsx(_components.span, { className: "token punctuation", children: "." }), "show_video", _jsx(_components.span, { className: "token punctuation", children: "(" }), "frames", _jsx(_components.span, { className: "token punctuation", children: "," }), " fps", _jsx(_components.span, { className: "token operator", children: "=" }), "framerate", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsxs(_components.p, { children: ["在 ", _jsx(_components.code, { className: "language-auto", children: "if len(frames) < data.time * framerate" }), " 中，", _jsx(_components.code, { className: "language-auto", children: "len(frames)" }), " 是已采集的帧数，", _jsx(_components.code, { className: "language-auto", children: "len(frames)/framerate" }), " 即下一帧应该出现的时间，以此按精确时间戳抓取视频帧。"] }), "\n", _jsxs(_components.p, { children: ["XML 的 ", _jsx(_components.code, { className: "language-auto", children: "

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