{"id":68538,"date":"2026-01-30T07:49:02","date_gmt":"2026-01-29T23:49:02","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/68538.html"},"modified":"2026-01-30T07:49:02","modified_gmt":"2026-01-29T23:49:02","slug":"mujoco%e8%b6%b3%e5%bc%8f%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e8%ae%ad%e7%bb%8302%ef%bc%88urdf%e8%bd%acxml","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/68538.html","title":{"rendered":"Mujoco\u8db3\u5f0f\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec302\uff08URDF\u8f6cXML)"},"content":{"rendered":"

URDF\u6587\u4ef6\u8f6cXML\u6587\u4ef6<\/h2>\n

\u5728\u5b89\u88c5\u5b8c\u6210mujoco playground\u4ee5\u540e，\u8bbe\u8ba1\u5230\u4e09\u7ef4\u6a21\u578b\u7684\u5bfc\u5165，\u5728sw\u8f6c\u51fa\u7684\u6587\u4ef6\u5927\u591a\u4e3aURDF\u683c\u5f0f，\u4f46\u662fmujoco\u4eff\u771f\u7684\u65f6\u5019\u5927\u591a\u652f\u6301xml\u6587\u4ef6<\/p>\n

xml\u6587\u4ef6\u5b98\u65b9\u5730\u63d0\u4f9b\u4e86\u8f6c\u6362\u811a\u672c，\u9700\u8981\u4e0b\u8f7dmujoco\u5de5\u7a0b\u6587\u4ef6，\u6ce8\u610f\u548c\u4e0a\u8282\u4e0b\u8f7d\u7684mujoco playground\u4e0d\u662f\u4e00\u4e2a\u5de5\u7a0b\u6587\u4ef6<\/p>\n

1. mujoco\u5de5\u7a0b\u6587\u4ef6\u4e0b\u8f7d<\/h3>\n

https:\/\/mujoco.org\/download\/mujoco210-linux-x86_64.tar.gz
\nexport<\/span> LD_LIBRARY_PATH<\/span>=<\/span>$LD_LIBRARY_PATH<\/span>:\/home\/.mujoco\/mujoco210\/bin<\/p>\n

2. \u5728URDF\u6587\u4ef6\u4e2d\u6dfb\u52a0\u4ee3\u7801<\/h3>\n

<<\/span>mujoco<\/span>><\/span><\/span>
\n <<\/span>compiler<\/span>
\n meshdir<\/span>=<\/span>"<\/span>..\/meshes\/"<\/span><\/span>
\n balanceinertia<\/span>=<\/span>"<\/span>true"<\/span><\/span>
\n discardvisual<\/span>=<\/span>"<\/span>false"<\/span><\/span> \/><\/span><\/span>
\n <\/<\/span>mujoco<\/span>><\/span><\/span><\/p>\n

meshdir：stl\u7f51\u683c\u6587\u4ef6\u5b58\u653e\u5730\u5740 balanceinertia=\u201ctrue\u201d \u542f\u7528\u60ef\u91cf\u5e73\u8861（\u4eff\u771f\u66f4\u771f） discardvisual=\u201cfalse\u201d \u4fdd\u7559\u89c6\u89c9\u51e0\u4f55\u4f53（\u53ef\u89c6\u5316\u597d\u770b） \u6b64\u5904\u9700\u8981\u6ce8\u610f，\u9700\u8981\u4e0elink\u5e73\u7ea7，\u76f4\u63a5\u5199\u5728\u6700\u4e0a\u9762\u5c31\u884c \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

3. \u8f6c\u5316\u547d\u4ee4<\/h3>\n

cd<\/span> ~\/.mujoco\/mujoco210\/bin
\n.\/compile \/path\/to\/model.urdf \/path\/to\/model.xml<\/p>\n

\u6b64\u5904\u53ef\u4ee5\u76f4\u63a5\u5199urdf\u6587\u4ef6\u7684\u7edd\u5bf9\u5730\u5740，\u4ee5\u53ca\u4fdd\u5b58xml\u6587\u4ef6\u5b58\u653e\u7684\u7edd\u5bf9\u5730\u5740<\/p>\n

\u5982\u679c\u60f3\u8981\u4eff\u771f\u9a8c\u8bc1xml\u6587\u4ef6\u7684\u8f6c\u5316\u662f\u5426\u6210\u529f，\u53ef\u4ee5\u6267\u884c<\/p>\n

.\/simulate \/path\/to\/model.xml<\/p>\n

4. \u5728xml\u6587\u4ef6\u4e2d\u6dfb\u52a0\u6267\u884c\u5668（actuator）<\/h3>\n

actuator\u53ef\u4ee5\u7406\u89e3\u4e3a\u7535\u673a，\u4e2a\u4eba\u8ba4\u4e3amujoco\u6bd4\u8f83\u4e25\u8c28，\u6bcf\u4e00\u4e2a\u5173\u8282\u90fd\u9700\u8981\u5236\u5b9aactuator\u624d\u80fd\u6709\u52a8\u529b，\u800c\u4e0d\u662f\u50cfleggedgym\u5c01\u88c5\u7684\u4e00\u6837，\u76f4\u63a5\u8f93\u5165\u6d3b\u52a8\u5173\u8282\u6570\u76ee\u8fdb\u884c\u81ea\u52a8\u5bf9\u5e94<\/p>\n

actuator\u6709\u591a\u79cd\u683c\u5f0f，\u5373\u53ef\u4ee5\u8bbe\u7f6e\u4f4d\u7f6e\u6a21\u5f0f\u3001\u529b\u77e9\u6a21\u5f0f\u3001\u901f\u5ea6\u6a21\u5f0f\u3001\u4ee5\u53cageneral\u901a\u7528\u683c\u5f0f\u7b49 \u6b64\u5904\u53ea\u4ecb\u7ecdposition\u8bbe\u7f6e\u65b9\u6cd5<\/p>\n

<<\/span>actuator<\/span>><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RF_HAA"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RF_HAA"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RF_HFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RF_HFE"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RF_KFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RF_KFE"<\/span><\/span> \/><\/span><\/span><\/p>\n

<<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RM_HAA"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RM_HAA"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RM_HFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RM_HFE"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RM_KFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RM_KFE"<\/span><\/span> \/><\/span><\/span><\/p>\n

<<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RB_HAA"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RB_HAA"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RB_HFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RB_HFE"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>RB_KFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>RB_KFE"<\/span><\/span> \/><\/span><\/span><\/p>\n

<<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LF_HAA"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LF_HAA"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LF_HFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LF_HFE"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LF_KFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LF_KFE"<\/span><\/span> \/><\/span><\/span><\/p>\n

<<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LM_HAA"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LM_HAA"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LM_HFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LM_HFE"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LM_KFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LM_KFE"<\/span><\/span> \/><\/span><\/span><\/p>\n

<<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LB_HAA"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LB_HAA"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LB_HFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LB_HFE"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>position<\/span> class<\/span>=<\/span>"<\/span>hexapod"<\/span><\/span> name<\/span>=<\/span>"<\/span>LB_KFE"<\/span><\/span> joint<\/span>=<\/span>"<\/span>LB_KFE"<\/span><\/span> \/><\/span><\/span><\/p>\n

<\/<\/span>actuator<\/span>><\/span><\/span><\/p>\n

\u7b14\u8005\u4f7f\u7528\u7684\u662f\u516d\u8db3\u673a\u5668\u4eba，\u6240\u4ee5\u5177\u670918\u4e2a\u6d3b\u52a8\u5173\u8282，\u6240\u4ee5\u6b64\u6dfb\u52a0\u4e8618\u4e2a\u4f4d\u7f6e\u6a21\u5f0f\u7684\u7535\u673a<\/p>\n

\u6ce8：\u7531\u4e8e\u8fd918\u4e2a\u5173\u8282\u9ad8\u5ea6\u91cd\u590d，\u6b64\u5904\u8fd0\u7528\u4e86class\u7684\u6982\u5ff5（\u7528\u6765\u8bbe\u7f6ekp\u548cdamping，\u4ee5\u53caforcerange\u7b49\u53c2\u6570），class\u7684\u5177\u4f53\u7528\u6cd5\u53ef\u4ee5\u53c2\u8003mujoco\u5b98\u65b9\u7684xml\u6587\u6863\u7684\u8bf4\u660e<\/p>\n

5. \u5728xml\u6587\u4ef6\u4e2d\u6dfb\u52a0\u4f20\u611f\u5668（sensor）<\/h3>\n

\u6839\u636e\u7b14\u8005\u8fd9\u6bb5\u65f6\u95f4\u5bf9mujoco\u7684\u4f7f\u7528，mujoco\u7684\u4f20\u611f\u5668\u4ee5\u53ca\u5176\u4ed6\u529f\u80fd\u7684\u6dfb\u52a0，\u4e3b\u8981\u5728xml\u6587\u4ef6\u4e2d\u8fdb\u884c\u5b9e\u73b0，（\u4e2a\u4eba\u8ba4\u4e3a\u5341\u5206\u65b9\u4fbf\u3001\u4e3b\u6253\u4e00\u4e2a\u4ec0\u4e48\u90fd\u5f00\u653e🐶）<\/p>\n

\u76ee\u524d\u7b14\u8005\u4f7f\u7528\u5230\u7684\u4f20\u611f\u5668，\u4e00\u822c\u90fd\u662f\u76d1\u63a7\u67d0\u4e00\u4e2a\u70b9\u7684\u6570\u636e site\u7684\u5b9a\u4e49：<\/p>\n

<<\/span>site<\/span> name<\/span>=<\/span>"<\/span>imu"<\/span><\/span> pos<\/span>=<\/span>"<\/span>0 0 0"<\/span><\/span> group<\/span>=<\/span>"<\/span>5"<\/span><\/span> \/><\/span><\/span><\/p>\n

\u4f20\u611f\u5668\u5b9a\u4e49：<\/p>\n

<<\/span>sensor<\/span>><\/span><\/span>
\n <<\/span>gyro<\/span> site<\/span>=<\/span>"<\/span>imu"<\/span><\/span> name<\/span>=<\/span>"<\/span>gyro"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>velocimeter<\/span> site<\/span>=<\/span>"<\/span>imu"<\/span><\/span> name<\/span>=<\/span>"<\/span>local_linvel"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>accelerometer<\/span> site<\/span>=<\/span>"<\/span>imu"<\/span><\/span> name<\/span>=<\/span>"<\/span>accelerometer"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>framezaxis<\/span> objtype<\/span>=<\/span>"<\/span>site"<\/span><\/span> objname<\/span>=<\/span>"<\/span>imu"<\/span><\/span> name<\/span>=<\/span>"<\/span>upvector"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>framelinvel<\/span> objtype<\/span>=<\/span>"<\/span>site"<\/span><\/span> objname<\/span>=<\/span>"<\/span>imu"<\/span><\/span> name<\/span>=<\/span>"<\/span>global_linvel"<\/span><\/span> \/><\/span><\/span>
\n <<\/span>frameangvel<\/span> objtype<\/span>=<\/span>"<\/span>site"<\/span><\/span> objname<\/span>=<\/span>"<\/span>imu"<\/span><\/span> name<\/span>=<\/span>"<\/span>global_angvel"<\/span><\/span> \/><\/span><\/span>
\n <\/<\/span>sensor<\/span>><\/span><\/span><\/p>\n

\u5982\u679c\u60f3\u66ff\u6362\u8fdb\u81ea\u5df1\u7684xml\u6587\u4ef6，\u53ea\u9700\u8981\u5728xml\u4e2d\u521b\u5efa\u8fd9\u4e2a\u70b9\u5373\u53ef<\/p>\n

5. \u5728xml\u6587\u4ef6\u4e2d\u6dfb\u52a0\u78b0\u649e\u4f53<\/h3>\n

\u6b64\u5904\u9700\u8981\u6ce8\u610f，\u867d\u7136mujoco\u652f\u6301\u76f4\u63a5\u4f7f\u7528stl\u7f51\u683c\u6587\u4ef6\u4f5c\u4e3a\u78b0\u649e\u4f53，\u4f46\u662f\u5728\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7684\u8fc7\u7a0b\u4e2d，\u5982\u679c\u6ca1\u6709\u5c06mesh\u6587\u4ef6\u7b80\u5316，\u5728\u8bad\u7ec3\u7684\u8fc7\u7a0b\u4e2d\u4f1a\u4e00\u76f4\u62a5\u9519，\u5e76\u4e14\u8fd0\u7b97\u91cf\u4f1a\u663e\u8457\u589e\u5927，\u6240\u4ee5\u6b64\u5904\u5efa\u8bae\u7b80\u5316\u78b0\u649e\u4f53！！！<\/p>\n

<<\/span>geom<\/span> condim<\/span>=<\/span>"<\/span>1"<\/span><\/span> contype<\/span>=<\/span>"<\/span>0"<\/span><\/span> conaffinity<\/span>=<\/span>"<\/span>0"<\/span><\/span> \/><\/span><\/span><\/p>\n

\u5982\u679c\u4f60\u60f3\u6dfb\u52a0\u78b0\u649e\u4f53，\u53ea\u9700\u8981\u5728\u540e\u9762\u8bbe\u7f6econtype\u548cconaffinity\u5373\u53ef，\u6b64\u5904\u4e8c\u8005\u90fd\u51990\u4ee3\u8868\u4e0d\u53c2\u4e0e\u78b0\u649e<\/p>\n

\u53c2\u8003\u6587\u732e 1.https:\/\/zhuanlan.zhihu.com\/p\/699075829 2.https:\/\/www.bilibili.com\/video\/BV1tDxAzTEFM\/?spm_id_from=333.1391.0.0<\/p>\n","protected":false},"excerpt":{"rendered":"

URDF\u6587\u4ef6\u8f6cXML\u6587\u4ef6
\n\u5728\u5b89\u88c5\u5b8c\u6210mujoco playground\u4ee5\u540e，\u8bbe\u8ba1\u5230\u4e09\u7ef4\u6a21\u578b\u7684\u5bfc\u5165，\u5728sw\u8f6c\u51fa\u7684\u6587\u4ef6\u5927\u591a\u4e3aURDF\u683c\u5f0f，\u4f46\u662fmujoco\u4eff\u771f\u7684\u65f6\u5019\u5927\u591a\u652f\u6301xml\u6587\u4ef6
\nxml\u6587\u4ef6\u5b98\u65b9\u5730\u63d0\u4f9b\u4e86\u8f6c\u6362\u811a\u672c，\u9700\u8981\u4e0b\u8f7dmujoco\u5de5\u7a0b\u6587\u4ef6，\u6ce8\u610f\u548c\u4e0a\u8282\u4e0b\u8f7d\u7684mujoco playground\u4e0d\u662f\u4e00\u4e2a\u5de5\u7a0b\u6587\u4ef6
\n1. mujoco\u5de5\u7a0b\u6587\u4ef6\u4e0b\u8f7d
\nhttps:\/\/mujoco.org\/download\/mu<\/p>\n","protected":false},"author":2,"featured_media":68537,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[2545,384],"topic":[],"class_list":["post-68538","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-xml","tag-384"],"yoast_head":"\nMujoco\u8db3\u5f0f\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec302\uff08URDF\u8f6cXML) - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/68538.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Mujoco\u8db3\u5f0f\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec302\uff08URDF\u8f6cXML) - 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