物理仿真Physics Simulation
Physics Simulation
在计算机里算出物体的运动与接触，给机器人一个能反复试错的练习场。Compute object motion and contact in a computer, giving robots a practice ground for repeated trial-and-error.
物理仿真用物理引擎数值求解运动方程：给定质量、关节、摩擦与碰撞，算出下一时刻物体会怎么动。
MuJoCo 这类引擎专为机器人与生物力学设计，支持接触丰富的操作任务；研究者先在仿真里训练和测试策略，再考虑搬到实机。
仿真是近似：步长、接触模型与参数误差都会让仿真里的行为偏离现实，这正是仿真到实机迁移要处理的缺口。
Physics simulation numerically solves equations of motion with a physics engine: given mass, joints, friction and collisions, it computes how objects move at the next time step.
Engines such as MuJoCo are designed for robotics and biomechanics and support contact-rich manipulation; researchers train and test policies in simulation before considering real hardware.
Simulation is an approximation: step size, contact models and parameter errors make simulated behaviour diverge from reality, which is exactly the gap sim-to-real transfer must handle.
真机试错又贵又慢还可能摔坏硬件，仿真让同一套练习可以并行跑成千上万次。但「仿真里跑通」不等于「现实里跑通」，评估机器人方案时要先问它的验证是在哪一层做的。Real-robot trial-and-error is expensive, slow and can break hardware; simulation lets the same practice run thousands of times in parallel. But passing in simulation does not mean passing in reality, so evaluation should ask at which layer validation was done.
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