miuav control-systems — MuJoCo 控制系统 SKILL
引用技能
agents/skills/simulation/mujoco/agents/skills/ros2-debug/
PD 控制器
# MuJoCo PD 控制器
def pd_control(q_desired, q_current, qd_current, kp, kd):
torque = kp * (q_desired - q_current) + kd * (qd_desired - qd_current)
return torque
阻抗控制
# 阻抗控制（末端力控制）
F_desired = Kp × (x_desired - x) + Kd × (xd_desired - xd)
QP 优化控制
# QP 求解关节力矩
H = q.T @ K @ q + R
g = -q.T @ K @ x_desired
q_solution = qp(H, g)
ROS2 集成
# mujoco_ros2_joint_control
from mujoco_ros2 import MujocoNode
class MujocoController(MujocoNode):
def __init__(self):
super().__init__('mujoco_controller')
self.ctrl = np.zeros(njnt)
禁止
- ❌ MuJoCo 仿真参数不校准就用于真实机器人
- ❌ 控制频率不匹配（MuJoCo 1000Hz ≠ 真实 400Hz）