"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", mfrac: "mfrac", mi: "mi", mo: "mo", mrow: "mrow", mstyle: "mstyle", msub: "msub", msup: "msup", 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: "接触动力学", children: [_jsx(_components.a, { className: "heading-link", href: "#接触动力学", 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 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}), "接触力"] }), "\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: "# 定义带接触的自由体模型" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["free_body_MJCF ", _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 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_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: 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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: 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children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "light" }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "mode" }), "：光源的行为模式，", _jsx(_components.code, { className: "language-auto", children: "trackcom" }), " 跟踪整个系统的质心位置"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "geom" }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "solimp" }), "：接触参数，旧版本只有前三个参数，指数默认 2，刚度默认 1", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "dmin, dmax" }), "：产生接触力的距离阈值 ", _jsxs(_components.span, { className: "katex", children: [_jsx(_components.span, { className: "katex-mathml", children: _jsx(_components.math, { xmlns: "http://www.w3.org/1998/Math/MathML", children: _jsxs(_components.semantics, { children: [_jsx(_components.mrow, { children: _jsxs(_components.msub, { children: [_jsx(_components.mi, { children: "d" }), _jsx(_components.mi, { children: "max" }), _jsx(_components.mo, { children: "⁡" })] }) }), _jsx(_components.annotation, { encoding: "application/x-tex", children: "d_{\\max}" })] }) }) }), _jsx(_components.span, { className: "katex-html", "aria-hidden": "true", children: _jsxs(_components.span, { className: "base", children: [_jsx(_components.span, { className: "strut", style: { height: "0.8444em", verticalAlign: "-0.15em" } }), _jsxs(_components.span, { className: "mord", children: [_jsx(_components.span, { className: "mord mathnormal", children: "d" }), _jsx(_components.span, { className: "msupsub", children: _jsxs(_components.span, { className: "vlist-t vlist-t2", children: [_jsxs(_components.span, { className: "vlist-r", children: [_jsx(_components.span, { className: "vlist", style: { height: "0.1514em" }, children: _jsxs(_components.span, { style: { top: "-2.55em", marginLeft: "0em", marginRight: "0.05em" }, children: [_jsx(_components.span, { className: "pstrut", style: { height: "2.7em" } }), _jsx(_components.span, { className: "sizing reset-size6 size3 mtight", children: _jsx(_components.span, { className: "mord mtight", children: _jsxs(_components.span, { className: "mop mtight", children: [_jsx(_components.span, { className: "mtight", children: "m" }), _jsx(_components.span, { className: "mtight", children: "a" }), _jsx(_components.span, { className: "mtight", children: "x" })] }) }) })] }) }), _jsx(_components.span, { className: "vlist-s", children: "" })] }), _jsx(_components.span, { className: "vlist-r", children: _jsx(_components.span, { className: "vlist", style: { height: "0.15em" }, children: _jsx(_components.span, {}) }) })] }) })] })] }) })] }), "，", _jsxs(_components.span, { className: "katex", children: [_jsx(_components.span, { className: "katex-mathml", children: _jsx(_components.math, { xmlns: "http://www.w3.org/1998/Math/MathML", children: _jsxs(_components.semantics, { children: [_jsx(_components.mrow, { children: _jsxs(_components.msub, { children: [_jsx(_components.mi, { children: "d" }), _jsx(_components.mi, { children: "min" }), _jsx(_components.mo, { children: "⁡" })] }) }), _jsx(_components.annotation, { encoding: "application/x-tex", children: "d_{\\min}" })] }) }) }), _jsx(_components.span, { className: "katex-html", "aria-hidden": "true", children: _jsxs(_components.span, { className: "base", children: [_jsx(_components.span, { className: "strut", style: { height: "0.8444em", verticalAlign: "-0.15em" } }), _jsxs(_components.span, { className: "mord", children: [_jsx(_components.span, { className: "mord mathnormal", children: "d" }), _jsx(_components.span, { className: "msupsub", children: _jsxs(_components.span, { className: "vlist-t vlist-t2", 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})] })] }) })] })] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "width" }), "：接触力分布的宽度 ", _jsxs(_components.span, { className: "katex", children: [_jsx(_components.span, { className: "katex-mathml", children: _jsx(_components.math, { xmlns: "http://www.w3.org/1998/Math/MathML", children: _jsxs(_components.semantics, { children: [_jsxs(_components.mrow, { children: [_jsx(_components.mi, { mathvariant: "normal", children: "w" }), _jsx(_components.mi, { mathvariant: "normal", children: "i" }), _jsx(_components.mi, { mathvariant: "normal", children: "d" }), _jsx(_components.mi, { mathvariant: "normal", children: "t" }), _jsx(_components.mi, { mathvariant: "normal", children: "h" })] }), _jsx(_components.annotation, { encoding: "application/x-tex", children: "\\mathrm{width}" })] }) }) }), _jsx(_components.span, { className: "katex-html", "aria-hidden": "true", children: _jsxs(_components.span, { className: "base", children: [_jsx(_components.span, { className: "strut", style: { height: "0.6944em" } }), _jsx(_components.span, { className: "mord", children: _jsx(_components.span, { className: "mord mathrm", children: "width" }) })] }) })] })] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "exponent" }), "：接触力的指数参数 ", _jsxs(_components.span, { className: "katex", children: [_jsx(_components.span, { className: "katex-mathml", children: _jsx(_components.math, { xmlns: "http://www.w3.org/1998/Math/MathML", children: _jsxs(_components.semantics, { children: [_jsx(_components.mrow, { children: _jsx(_components.mi, { children: "e" }) }), _jsx(_components.annotation, { encoding: "application/x-tex", children: "e" })] }) }) }), _jsx(_components.span, { className: "katex-html", "aria-hidden": "true", children: _jsxs(_components.span, { className: "base", children: [_jsx(_components.span, { className: "strut", style: { height: "0.4306em" } }), 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"update_scene", _jsx(_components.span, { className: "token punctuation", children: "(" }), "data", _jsx(_components.span, { className: "token punctuation", children: "," }), " ", _jsx(_components.span, { className: "token string", children: "\"track\"" }), _jsx(_components.span, { className: "token punctuation", children: "," }), " options", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" frame ", _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: "(" }), "frame", _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: "# 显示慢动作视频" }), "\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: "=" }), _jsx(_components.span, { className: "token number", children: "30" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsx(_components.p, { children: _jsx(_components.strong, { children: "倍速仿真" }) }), "\n", _jsxs(_components.p, { children: ["在遍历总数为 ", _jsx(_components.code, { className: "language-auto", children: "nframe" }), " 的视频帧的过程中，原速下每一帧截取的间隔为 ", _jsx(_components.code, { className: "language-auto", children: "1/fps" }), "，在 ", _jsx(_components.code, { className: "language-auto", children: "n" }), " 倍速下则应为 ", _jsx(_components.code, { className: "language-auto", children: "n/fps" }), "，故第 ", _jsx(_components.code, { className: "language-auto", children: "i" }), " 帧的时刻为 ", _jsx(_components.code, { className: "language-auto", children: "ni/fps" }), " 。"] }), "\n", _jsx(_components.p, { children: _jsx(_components.strong, { children: "访问仿真运动数据" }) }), "\n", _jsxs(_components.p, { children: ["上一篇末尾我们提到如何记录分析仿真运动数据，由于这一步代码冗长、重复度高，且 ", _jsx(_components.code, { className: "language-auto", children: "matplotlib" }), " 绘图不是该系列的重点，因此这里仅列出访问仿真过程相应数据属性的方法。"] }), "\n", _jsxs(_components.p, { children: ["目前涉及到 ", _jsx(_components.code, { className: "language-auto", children: "mjData" }), " 的部分属性如下："] }), "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "time" }), "：时刻"] }), "\n", _jsxs(_components.li, { children: ["运动学相关", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "qpos" }), "：关节的广义位姿。对于单个自由关节（即自由刚体），", _jsx(_components.code, { className: "language-auto", children: "[0:3]" }), " 为位置向量，", _jsx(_components.code, { className: "language-auto", children: "[3:7]" }), " 为姿态四元数。对于更多刚体/关节，我们需要访问 ", _jsx(_components.code, { className: "language-auto", children: "mjModel" }), " 中的", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "jnt_qposadr[i]" }), "：查询索引为 ", _jsx(_components.code, { className: "language-auto", children: "i" }), " 的关节在 ", _jsx(_components.code, { className: "language-auto", children: "qpos" }), " 中的起始索引，位姿表示方式由关节类型决定"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "xpos" }), "：刚体位置矩阵，第一个索引为刚体 ID，第二个索引为刚体在世界坐标系下的坐标（", _jsx(_components.code, { className: "language-auto", children: "0=x, 1=y, 2=z" }), "）"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "geom_xpos" }), "：几何体位置矩阵，数据结构与 ", _jsx(_components.code, { className: "language-auto", children: "xpos" }), " 对应"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "qvel" }), "：刚体和关节的广义速度。对于单个自由刚体， ", _jsx(_components.code, { className: "language-auto", children: "[0:3]" }), " 为线速度，", _jsx(_components.code, { className: "language-auto", children: "[3:6]" }), " 为角速度。对于更多刚体/关节，我们需要访问 ", _jsx(_components.code, { className: "language-auto", children: "mjModel" }), " 中的", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "body_dofadr[i]/jnt_dofadr[i]" }), "：查询索引为 ", _jsx(_components.code, { className: "language-auto", children: "i" }), " 的刚体/关节在 ", _jsx(_components.code, { className: "language-auto", children: "qvel" }), " 中的起始索引"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "body_dofnum[i]/jnt_dofnum[i]" }), "：查询索引为 ", _jsx(_components.code, { className: "language-auto", children: "i" }), " 的刚体/关节的自由度数"] }), "\n", _jsxs(_components.li, { children: ["刚体/关节在 ", _jsx(_components.code, { className: "language-auto", children: "qvel" }), " 中的终止索引=起始索引+自由度数"] }), "\n", _jsxs(_components.li, { children: ["除了自由刚体， ", _jsx(_components.code, { className: "language-auto", children: "qvel" }), " 中关节的速度通常是在自身的局部坐标系（取决于关节类型）中，而关节连接的刚体速度通常在父刚体的局部坐标系（父刚体的惯性主轴）中"] }), "\n", _jsxs(_components.li, { children: ["还可以通过 ", _jsx(_components.code, { className: "language-auto", children: "mjData.joint('name').qvel" })] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "cvel" }), "：刚体的复合速度。只涉及刚体在世界坐标系下的线速度和角速度，按刚体索引排序，即对于索引为 ", _jsx(_components.code, { className: "language-auto", children: "i" }), " 的刚体，其速度切片为 ", _jsx(_components.code, { className: "language-auto", children: "[i*6:i*6+6]" })] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "qacc" }), "：刚体和关节的加速度，数据结构与 ", _jsx(_components.code, { className: "language-auto", children: "qvel" }), " 对应"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "cacc" }), "：刚体的复合加速度，数据结构与 ", _jsx(_components.code, { className: "language-auto", children: "cvel" }), " 对应"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "energy" }), "：第一个元素为系统动能，第二个元素为系统势能"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.strong, { children: "高级 API" }), "：通过 ", _jsx(_components.code, { className: "language-auto", children: "mjData.body(\"name\")" }), " 和 ", _jsx(_components.code, { className: "language-auto", children: "mjData.joint(\"name\")" }), " 可以直接通过名称而非索引查询来访问刚体和关节的运动学数据"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: ["动力学相关", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "ncon" }), "：活动接触数"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "contact" }), "：活动接触点，对于每个索引的接触点对象有如下属性", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "dist" }), "：最小接触距离（负值为最大穿透）"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "pos" }), "：接触点世界坐标系位置"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "frame" }), "：接触点坐标系（3*3 矩阵）", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "frame[2]" }), "：接触法线方向"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "frame[0]" }), "：接触切向方向 1"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "frame[1]" }), "：接触切向方向 2"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "friction" }), "：摩擦系数"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "solref" }), "：约束求解器参数"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "solimp" }), "：阻抗参数"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "qfrc_constraint" }), "：约束广义力，包含所有约束产生的广义力/力矩，数据结构与 ", _jsx(_components.code, { className: "language-auto", children: "qvel" }), " 对应"] }), "\n"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.h2, { id: "摩擦力", children: [_jsx(_components.a, { className: "heading-link", href: "#摩擦力", 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" }) }) }), "摩擦力"] }), "\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: "# 演示不同摩擦系数的效果" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["MJCF ", _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" }) }), _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" }) }), _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"] })] }) }), "\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: "friction" }), "：摩擦属性，对于各向同性摩擦只需给出一个摩擦系数，而在各向异性摩擦中可以依次给出滑动摩擦（主要方向和次要方向）、扭转摩擦和滚动摩擦（主要方向和次要方向）"] }), "\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: ["n_frames ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "60" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["height ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "300" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["width ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "300" }), "\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: "]" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 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: "(" }), "MJCF", _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: "# 仿真并录制视频" }), "\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: "," }), " height", _jsx(_components.span, { className: "token punctuation", children: "," }), " width", _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_resetData", _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 keyword", children: "for" }), " i ", _jsx(_components.span, { className: "token keyword", children: "in" }), " ", _jsx(_components.span, { className: "token builtin", children: "range" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), "n_frames", _jsx(_components.span, { className: "token punctuation", children: ")" }), _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: "<" }), " i", _jsx(_components.span, { className: "token operator", children: "/" }), _jsx(_components.span, { className: "token number", children: "30.0" }), _jsx(_components.span, { className: "token punctuation", children: ":" }), "\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"] }), _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: "," }), " ", _jsx(_components.span, { className: "token string", children: "\"y\"" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" frame ", _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: "(" }), "frame", _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: "# 显示摩擦对比" }), "\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: "=" }), _jsx(_components.span, { className: "token number", children: "30" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) }), "\n", _jsxs(_components.h1, { id: "腱系统执行器和传感器", children: [_jsx(_components.a, { className: "heading-link", href: "#腱系统执行器和传感器", 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" }) }) }), "腱系统、执行器和传感器"] }), "\n", _jsx(_components.p, { children: "为了实现更完善的机械系统建模，我们还需要以下元素：" }), "\n", _jsxs(_components.ul, { children: ["\n", _jsx(_components.li, { children: "腱系统：虚拟的弹性连接，类似于生物肌腱，用于定义和执行复杂驱动和约束的机制。" }), "\n", _jsx(_components.li, { children: "执行器：将控制信号转换为物理力的组件。" }), "\n", _jsxs(_components.li, { children: ["传感器：从模拟环境中提取各种物理量和数据的接口，相较于直接访问 ", _jsx(_components.code, { className: "language-auto", children: "mjData" }), " 可以模拟真实世界传感器的噪声、偏差、延迟、采样频率等。"] }), "\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: "# 演示腱系统、执行器和传感器" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["MJCF ", _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" }) }), _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" }) }), _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" }) }), _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" }) }), _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"] })] }) }), "\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: "site" }), "：站点，用于定义特定位置、标记点或附加点的虚拟实体", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "pos" }), "：位置，若未给出则默认为所属 ", _jsx(_components.code, { className: "language-auto", children: "body" }), " 的局部坐标系原点或世界坐标系原点"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "size" }), "：视觉尺寸"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "tendon" }), "：腱系统", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "spatial" }), " ：空间肌腱", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "limited" }), "：肌腱长度限制，启用后肌腱长度会被限制在 ", _jsx(_components.code, { className: "language-auto", children: "range" }), " 指定的范围内"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "width" }), "：肌腱视觉宽度"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "site" }), "：肌腱将以第一个 ", _jsx(_components.code, { className: "language-auto", children: "site" }), " 为起点，最后一个 ", _jsx(_components.code, { className: "language-auto", children: "site" }), " 为终点，可以有任意个途径点"] }), "\n"] }), "\n"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "actuator" }), "：执行器", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "motor" }), "：电机执行器，直接对关节施加力或扭矩", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "joint" }), "：目标关节"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "gear" }), "：传动比，输出力（扭矩）=传动比*控制输入"] }), "\n"] }), "\n"] }), "\n"] }), "\n"] }), "\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "sensor" }), "：传感器", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "accelerometer" }), "：加速度计传感器", "\n", _jsxs(_components.ul, { children: ["\n", _jsxs(_components.li, { children: [_jsx(_components.code, { className: "language-auto", children: "site" }), "：测量点位置"] }), "\n"] }), "\n"] }), "\n"] }), "\n"] }), "\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: "# 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: "(" }), "MJCF", _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"] }), _jsxs(_components.span, { className: "code-line", children: ["height ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "480" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["width ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "480" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 渲染初始状态" }), "\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: "," }), " height", _jsx(_components.span, { className: "token punctuation", children: "," }), " width", _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: [" 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: "," }), " ", _jsx(_components.span, { className: "token string", children: "\"fixed\"" }), _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%2020250912151117.png", alt: "Pasted image 20250912151117", className: "internal", "data-fs-resolved-file-path": "/I-附件/Pasted image 20250912151117.png" }), "\n", _jsxs(_components.p, { children: ["通过 ", _jsx(_components.code, { className: "language-auto", children: "mjData" }), " 的 ", _jsx(_components.code, { className: "language-auto", children: "ctrl[i]" }), " 和 ", _jsx(_components.code, { className: "language-auto", children: "sensor('name').data" }), " 可以实现执行器按索引控制和传感器按名称读取："] }), "\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: "# 设置仿真参数" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["n_frames ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "180" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["height ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "240" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["width ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "320" }), "\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: "]" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["fps ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "60.0" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["times ", _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: "# 时间序列" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["sensordata ", _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: "# 传感器数据" }), "\n"] }), _jsx(_components.span, { className: "code-line", children: "\n" }), _jsxs(_components.span, { className: "code-line", children: [_jsx(_components.span, { className: "token comment", children: "# 设置恒定的执行器控制信号" }), "\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: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: ["data", _jsx(_components.span, { className: "token punctuation", children: "." }), "ctrl ", _jsx(_components.span, { className: "token operator", children: "=" }), " ", _jsx(_components.span, { className: "token number", children: "20" }), " ", _jsx(_components.span, { className: "token comment", children: "# 施加20牛米的力矩" }), "\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: [_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: "," }), " height", _jsx(_components.span, { className: "token punctuation", children: "," }), " width", _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: "for" }), " i ", _jsx(_components.span, { className: "token keyword", children: "in" }), " ", _jsx(_components.span, { className: "token builtin", children: "range" }), _jsx(_components.span, { className: "token punctuation", children: "(" }), "n_frames", _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: ":" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 仿真到下一帧时间" }), "\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: "<" }), " i", _jsx(_components.span, { className: "token operator", children: "/" }), "fps", _jsx(_components.span, { className: "token punctuation", children: ":" }), "\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"] }), _jsxs(_components.span, { className: "code-line", children: [" times", _jsx(_components.span, { className: "token punctuation", children: "." }), "append", _jsx(_components.span, { className: "token punctuation", children: "(" }), "data", _jsx(_components.span, { className: "token punctuation", children: "." }), "time", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 记录加速度计数据" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" sensordata", _jsx(_components.span, { className: "token punctuation", children: "." }), "append", _jsx(_components.span, { className: "token punctuation", children: "(" }), "data", _jsx(_components.span, { className: "token punctuation", children: "." }), "sensor", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token string", children: "'accelerometer'" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: "." }), "data", _jsx(_components.span, { className: "token punctuation", children: "." }), "copy", _jsx(_components.span, { className: "token punctuation", children: "(" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" ", _jsx(_components.span, { className: "token comment", children: "# 渲染帧" }), "\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: "," }), " ", _jsx(_components.span, { className: "token string", children: "\"fixed\"" }), _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] }), _jsxs(_components.span, { className: "code-line", children: [" frame ", _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: "(" }), "frame", _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: "# 显示球棒击打过程" }), "\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: "=" }), "fps", _jsx(_components.span, { className: "token punctuation", children: ")" }), "\n"] })] }) })] }); } function MDXContent(props = {}) { const {wrapper: MDXLayout} = { ..._provideComponents(), ...props.components }; return MDXLayout ? _jsx(MDXLayout, { ...props, children: _jsx(_createMdxContent, { ...props }) }) : _createMdxContent(props); } return { default: MDXContent };

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