windows下的mujoco环境搭建

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已于 2022-03-13 15:12:10 修改 · 2k 阅读

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#qt #mujoco

于 2022-03-13 11:41:17 首次发布

#1 环境

1.1 win11: qt.5.14.2+mujoco

1.2 mujoco版本：mujoco210

2 qt工程：

我创建的是qt consol application。

工程主要的工作是引入mujoco和glfw3的库

 TEMPLATE = app
CONFIG += console c++11
CONFIG -= app_bundle
CONFIG -= qt

SOURCES += \
        main.cpp


INCLUDEPATH += H:\mujoco_dev\include
INCLUDEPATH += H:/mujoco_dev/glfw3/include/GLFW
DEPENDPATH +=H:\mujoco_dev\glfw3\include

#.lib
LIBS += -LH:\mujoco_dev\lib  -lmujoco
LIBS += -LH:\mujoco_dev\lib  -lmujoco_nogl

LIBS += -LH:/mujoco_dev/glfw3/lib-vc2015 -lglfw3
LIBS +=-lgdi32 -lopengl32 -lkernel32 -luser32 -lshell32

3 用来测试的mojoco模型以及控制代码

完整的模型代码

 <mujoco>
	<option>
		<flag sensornoise="enable" />
	</option>
	<worldbody>
        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
		<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
		<body pos="0 0 2" euler="0 0 0">
			<joint name="pin" type="hinge" axis = "0 -1 0" pos="0 0 0.5"/>
			<geom type="cylinder" size="0.05 0.5" rgba="0 .9 0 1" mass="1"/>
		</body>
	</worldbody>
	<actuator>
		<!-- <motor joint="pin" name="torque" gear="1" ctrllimited="true" ctrlrange="-100 100" /> -->
		<position name="position_servo" joint="pin" kp="100" />
		<velocity name="velocity_servo" joint="pin" kv="0" />
	</actuator>
	<sensor>
		<jointpos joint="pin" noise="0.2"/>
		<jointvel joint="pin" noise="1" />
	</sensor>
</mujoco>


#include <QCoreApplication>


#include<stdbool.h> //for bool
//#include<unistd.h> //for usleep
//#include <math.h>

#include "mujoco.h"
#include "glfw3.h"
#include "stdio.h"
#include "stdlib.h"
#include "string.h"


char filename[] = "H:/mujoco_learn/Code/control_pendulum/pendulum.xml";

// MuJoCo data structures
mjModel *m = NULL;                  // MuJoCo m