论文标题
MC-Mujoco：在Mujoco中使用FSM控制器模拟清晰的机器人
mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo
论文作者
论文摘要
为了在实际硬件平台上安全可靠的任何机器人控制器部署，通常是在现实的仿真环境中使用特定机器人全面评估控制器的性能的必要练习。尽管存在几种可以为此目的提供核心物理引擎的软件解决方案，但通常会努力将模拟环境与机器人控制器进行评估。控制器可能具有一个复杂的结构，该结构由有限状态机（FSM）内的多个状态和过渡组成，甚至可能需要通过GUI输入。 在这项工作中，我们提出了MC-Mujoco，这是一个开源软件框架，该框架形成了Mujoco物理模拟器和MC-RTC机器人控制框架之间的接口。我们提供实施详细信息，并描述为基本上任何新机器人提供支持的过程。我们还演示并发布了一个样品FSM控制器，用于通过HRP-5P人形机器人在Mujoco中对刚性对象进行两足动力和稳定的抓握。 MC-Mujoco，已开发的机器人模块和FSM控制器的代码和使用说明可在线提供。
For safe and reliable deployment of any robot controller on the real hardware platform, it is generally a necessary practice to comprehensively assess the performance of the controller with the specific robot in a realistic simulation environment beforehand. While there exist several software solutions that can provide the core physics engine for this purpose, it is often a cumbersome and error-prone effort to interface the simulation environment with the robot controller being evaluated. The controller may have a complex structure consisting of multiple states and transitions within a finite-state machine (FSM), and may even require input through a GUI. In this work, we present mc-mujoco -- an open-source software framework that forms an interface between the MuJoCo physics simulator and the mc-rtc robot control framework. We provide implementation details and describe the process for adding support for essentially any new robot. We also demonstrate and publish a sample FSM controller for bipedal locomotion and stable grasping of a rigid object by the HRP-5P humanoid robot in MuJoCo. The code and usage instructions for mc-mujoco, the developed robot modules, and the FSM controller are available online.
