miuav 软体仿真技能
用于实现软体物理仿真，涵盖绳索、布料、软体抓取和仿真-现实迁移（Sim2Real）
何时使用
当需要以下帮助时使用此技能：
- 仿真绳索、布料、果冻等软体
- 软体机器人抓取和操作
- MuJoCo/Isaac Gym 软体环境配置
- Sim2Real 迁移（domain randomization）
快速参考
软体类型
软体仿真:
├── 绳索 (Rope/Cable) → 1D柔性，细长物体
├── 布料 (Cloth/Sheet) → 2D柔性，平坦软体
├── 颗粒 (Granular) → 沙子、粉末
├── 体积软体 (Volumetric) → 果冻、海绵
└── 混合刚软 (Hybrid) → 刚体+软体组合
仿真器支持
# MuJoCo（最推荐）
pip install mujoco
# Isaac Gym（GPU加速）
pip install isaacgymenvs
# PyBullet
pip install pybullet
MuJoCo 绳索仿真
绳索建模
import mujoco
import mujoco.viewer as viewer
import numpy as np
class RopeSimulator:
"""MuJoCo 绳索仿真"""
def __init__(self, num_segments: int = 20, rope_length: float = 1.0):
self.n = num_segments
self.dt = 0.002
# 创建模型
self.model = self._build_model(num_segments, rope_length)
self.data = mujoco.MjData(self.model)
# 渲染器
self.viewer = None
def _build_model(self, n: int, length: float) -> mujoco.Model:
"""构建绳索 MuJoCo 模型"""
segment_length = length / n
# 球体几何体
geom_radius = 0.01
xml = f"""
<mujoco model="rope">
<option timestep="{self.dt}" iterations="50" tolerance="1e-10">
<flag contact="enable" energy="enable"/>
</option>
<worldbody>
<!-- 固定端（世界坐标） -->
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<!-- 绳索段 -->
<body name="seg0" pos="0 0 2">
<freejoint/>
<geom type="sphere" size="{geom_radius}" friction="0.5"/>
</body>
"""
# 添加剩余段
for i in range(1, n):
xml += f"""
<body name="seg{i}" pos="{i * segment_length} 0 2">
<freejoint/>
<geom type="sphere" size="{geom_radius}" friction="0.5"/>
</body>
"""
# 使用 weld 约束连接相邻段
for i in range(n - 1):
xml += f"""
<tendon>
<fixed name="tendon{i}" stiffness="1000" damping="1">
<joint joint="seg{i}_freejoint" coef1="1.0" coef2="-1.0"/>
</fixed>
</tendon>
"""
xml += """
</worldbody>
</mujoco>
"""
return mujoco.from_xml_string(xml)
def simulate(self, num_steps: int = 1000):
"""运行仿真"""
with viewer.launch_passive(self.model, self.data) as v:
for _ in range(num_steps):
mujoco.mj_step(self.model, self.data)
v.sync()
def apply_force(self, segment_id: int, force: np.ndarray):
"""对指定段施加力"""
self.data.xfrc_applied[segment_id + 1, :3] = force
def get_end_effector_position(self) -> np.ndarray:
"""获取末端位置"""
return self.data.body('seg{}'.format(self.n - 1)).xpos.copy()
class RopeManipulator:
"""绳索操作控制器"""
def __init__(self, rope_sim: RopeSimulator):
self.rope = rope_sim
self.Kp = 5.0
self.Kd = 2.0
def position_control(
self,
target: np.ndarray,
max_segments_to_move: int = 5
) -> np.ndarray:
"""
末端位置控制
Returns: 各段控制力
"""
current_end = self.rope.get_end_effector_position()
error = target - current_end
# 计算控制力
desired_velocity = self.Kp * error
current_velocity = self.rope.data.qvel[-3:]
# 只对前 max_segments_to_move 个段施加控制
forces = np.zeros(self.rope.n * 6)
for i in range(max_segments_to_move):
forces[i * 6:(i + 1) * 6] = (
self.Kp * error - self.Kd * current_velocity
) / max_segments_to_move
return forces
class CableRoutingEnv:
"""电缆布线环境"""
def __init__(self):
self.rope = RopeSimulator(num_segments=30, rope_length=1.5)
self.obstacles = [] # [(position, radius)]
# 奖励参数
self.reach_threshold = 0.02
self.collision_penalty = -1.0
self.success_reward = 10.0
def reset(self) -> np.ndarray:
"""重置环境"""
mujoco.mj_resetModel(self.rope.model, self.rope.data)
return self.rope.data.qpos.copy()
def step(self, action: np.ndarray) -> tuple:
"""
执行动作
Args:
action: 控制命令
Returns:
(next_state, reward, done, info)
"""
# 应用动作
for i in range(len(action)):
self.rope.data.ctrl[i] = action[i]
# 仿真一步
mujoco.mj_step(self.rope.model, self.rope.data)
# 计算奖励
end_pos = self.rope.get_end_effector_position()
goal_pos = np.array([0.5, 0.0, 1.0])
dist_to_goal = np.linalg.norm(end_pos - goal_pos)
reward = -dist_to_goal
# 检查是否成功
done = dist_to_goal < self.reach_threshold
if done:
reward += self.success_reward
return self.rope.data.qpos.copy(), reward, done, {}
def render(self):
"""渲染"""
with viewer.launch_passive(self.rope.model, self.rope.data) as v:
v.sync()
MuJoCo 布料仿真
布料建模
class ClothSimulator:
"""布料仿真"""
def __init__(self, width: int = 10, height: int = 10, cloth_size: float = 0.5):
self.width = width
self.height = height
self.size = cloth_size
self.cell_size = cloth_size / width
self.model = self._build_model(width, height, cloth_size)
self.data = mujoco.MjData(self.model)
def _build_model(self, w: int, h: int, size: float) -> mujoco.Model:
"""构建布料 MuJoCo 模型"""
cell = size / w
h = size / h
# 生成格子顶点
n = (w + 1) * (h + 1)
points = []
faces = []
for i in range(h + 1):
for j in range(w + 1):
points.append([j * cell, i * h, 2.0])
# 生成三角形面
for i in range(h):
for j in range(w):
v0 = i * (w + 1) + j
v1 = v0 + 1
v2 = v0 + w + 1
v3 = v2 + 1
faces.extend([v0, v1, v2, v1, v3, v2])
geom_ids = list(range(n))
xml = f"""
<mujoco model="cloth">
<option timestep="0.001"/>
<worldbody>
<light diffuse=".7 .7 .7" pos="0 0 3"/>
<body>
<!-- 布料顶点 -->
<geom type="mesh" vertex="{n}"
face="{len(faces)}"
pos="0 0 2"
friction="0.5"
density="100"
solref="0.005 1"
solimp="0.9 0.5 0.01"/>
</body>
<!-- 地面 -->
<geom type="plane" pos="0 0 0" size="2 2"/>
</worldbody>
</mujoco>
"""
return mujoco.from_xml_string(xml)
class ClothGraspEnv:
"""布料抓取环境"""
def __init__(self):
self.cloth = ClothSimulator(width=10, height=10, cloth_size=0.3)
self.grasper_pos = np.array([0.15, 0.15, 0.5])
self.grasp_closed = False
def step(self, action: np.ndarray) -> tuple:
"""
action: [delta_x, delta_y, delta_z, grasp]
"""
# 解析动作
delta = action[:3] * 0.1 # 缩放
grasp = action[3]
# 更新夹爪位置
self.grasper_pos += delta
# 抓取逻辑
if grasp > 0 and not self.grasp_closed:
# 执行抓取：抓起布料顶点
self._execute_grasp()
# 仿真
mujoco.mj_step(self.cloth.model, self.cloth.data)
# 计算奖励
cloth_center = self.cloth.data.geom_xpos[0] # 布料中心
reward = -np.linalg.norm(self.grasper_pos[:2] - cloth_center[:2])
done = False
return self._get_obs(), reward, done, {}
def _execute_grasp(self):
"""执行抓取"""
# 找到夹爪下方的布料顶点
closest_vert = self._find_closest_vert(self.grasper_pos)
# 应用抓取力
self.grasp_closed = True
def _find_closest_vert(self, pos: np.ndarray) -> int:
"""找最近的布料顶点"""
# 简化实现
return 0
def _get_obs(self) -> np.ndarray:
return np.concatenate([
self.grasper_pos,
self.cloth.data.qpos.copy(),
])
Isaac Gym 软体环境
Isaac Gym 配置
import isaacgym
import isaacgym.gymapi as gym_api
import isaacgym.gymutil as gymutil
class IsaacGymSoftBody:
"""Isaac Gym 软体环境"""
def __init__(self, num_envs: int = 256):
self.gym = gym_api.acquire_gym()
self.num_envs = num_envs
# 创建仿真
sim_params = gym_api.SimParams()
sim_params.dt = 1.0 / 60.0
sim_params.substeps = 2
sim_params.up_axis = gym_api.UP_AXIS_Z
sim_params.gravity = gym_api.Vec3(0.0, 0.0, -9.81)
self.sim = self.gym.create_sim(
compute_device=0,
graphics_device=0,
type=gym_api.SIM_PHY_SIM,
params=sim_params
)
# 创建环境
self.envs = []
self.actors = []
for i in range(num_envs):
env = self.gym.create_env(
self.sim,
lower=gym_api.Vec3(-0.5, -0.5, 0),
upper=gym_api.Vec3(0.5, 0.5, 1.0)
)
self.envs.append(env)
# 创建软体
self._create_soft_body(env, i)
def _create_soft_body(self, env, idx: int):
"""创建软体"""
# 简化：使用弹性体
actor = self.gym.create_actor(
env,
self._get_soft_body_asset(),
gym_api.Transform(),
"soft_{}".format(idx),
idx
)
# 软体质感
props = self.gym.get_actor_shape_properties(env, actor)
props[0].compliance = 0.001 # 柔顺度
props[0].friction = 0.5
self.gym.set_actor_shape_properties(env, actor, props)
self.actors.append(actor)
def _get_soft_body_asset(self):
"""获取软体资产"""
# 实际使用中加载 SDF 或 URDF
pass
def reset(self):
"""重置所有环境"""
for env in self.envs:
self.gym.reset_actor_states(env)
def step(self, actions: np.ndarray):
"""批量执行"""
for i, env in enumerate(self.envs):
self.gym.set_actor_dof_actuation(env, self.actors[i], actions[i])
self.gym.simulate(self.sim)
self.gym.fetch_results(self.sim, True)
Sim2Real 迁移
Domain Randomization
import numpy as np
class DomainRandomizer:
"""Sim2Real 域随机化"""
def __init__(self):
# 可随机化的参数范围
self.param_ranges = {
# 物理参数
'gravity': (-10.0, -9.81), # 重力加速度
'friction': (0.3, 0.8), # 摩擦系数
'softness': (0.8, 1.2), # 软体刚度
# 视觉参数
'light_intensity': (0.7, 1.3), # 光照强度
'camera_noise': (0.0, 0.05), # 相机噪声
# 控制器参数
'Kp': (0.8, 1.2), # 增益随机化
'Kd': (0.8, 1.2),
}
def randomize(self) -> dict:
"""随机采样参数"""
params = {}
for name, (low, high) in self.param_ranges.items():
params[name] = np.random.uniform(low, high)
return params
def apply_to_sim(self, sim, params: dict):
"""应用到仿真器"""
if 'gravity' in params:
sim.params.gravity.z = params['gravity']
if 'friction' in params:
for geom in sim.model.geom_friction:
geom[:2] = params['friction']
class AdaptiveController:
"""Sim2Real 自适应控制器"""
def __init__(self, sim_model, real_model):
self.sim = sim_model
self.real = real_model
# 在线适应
self.error_history = []
self.max_history = 100
def adapt(
self,
sim_state: np.ndarray,
real_state: np.ndarray,
K: np.ndarray
) -> np.ndarray:
"""
自适应调整控制器增益
Returns: 调整后的增益
"""
# 状态误差
error = real_state - sim_state
# 记录历史
self.error_history.append(np.linalg.norm(error))
if len(self.error_history) > self.max_history:
self.error_history.pop(0)
# 如果 sim 和 real 误差增大，调整增益
recent_error = np.mean(self.error_history[-20:])
if recent_error > 0.1: # 阈值
# 减小增益（降低 sim 依赖）
K_adapted = K * 0.9
else:
K_adapted = K
return K_adapted
故障排查
| 问题 | 原因 | 解决方案 |
|---|---|---|
| 绳索断裂/不稳定 | 子步长太大 | 减小 timestep，增加 iterations |
| 布料穿透自身 | 碰撞参数不当 | 减小 geom size，增加 solimp |
| 仿真太慢 | 粒子数太多 | 减少段数/顶点数 |
| 抓取滑落 | 摩擦力不足 | 增加 friction，或改用夹爪 |
| Sim2Real 迁移失败 | sim 太理想化 | 添加 domain randomization |
调试命令
# MuJoCo 可视化
python -m mujoco.viewer --model=rope.xml
# Isaac Gym 测试
python -m isaacgym.gymutil --help
# 导出仿真数据
python export_sim_data.py --output=cloth_trajectory.npz
相关技能
simulator/mujoco/mujoco-modeling— MuJoCo 模型创建manipulator/grasp-planning— 抓取规划manipulator/impedance-control— 柔顺控制simulator/isaaclab/rl-training— RL 训练robotics-learning/transfer-learning— 迁移学习