DeepMind tau qhib lub hauv paus code ntawm lub cav rau simulating lub cev txheej txheem MuJoCo (Multi-Joint dynamics nrog kev sib cuag) thiab pauv qhov project mus rau ib tug qhib txoj kev loj hlob qauv, uas txhais tau hais tias muaj peev xwm ntawm cov neeg zej zog koom rau hauv txoj kev loj hlob. Qhov project tau pom tias yog lub platform rau kev tshawb fawb thiab kev sib koom tes ntawm cov thev naus laus zis tshiab ntsig txog kev simulation ntawm cov neeg hlau thiab cov txheej txheem nyuaj. Cov cai tau tshaj tawm raws li Apache 2.0 daim ntawv tso cai. Linux, Windows thiab macOS platforms tau txais kev txhawb nqa.
MuJoCo yog lub tsev qiv ntawv uas siv lub cav rau simulating cov txheej txheem ntawm lub cev thiab ua qauv qhia cov qauv kev sib cuam tshuam nrog ib puag ncig, uas tuaj yeem siv rau hauv kev tsim cov neeg hlau, cov cuab yeej siv tshuab biomechanical thiab cov tshuab txawj ntse, nrog rau kev tsim cov duab, animation thiab computer. kev ua si. Lub cav yog sau rau hauv C, tsis siv lub cim xeeb dynamic faib, thiab ua kom zoo rau kev ua haujlwm siab tshaj plaws.
MuJoCo tso cai rau koj los tswj cov khoom ntawm qib qis, thaum muab qhov tseeb siab thiab muaj peev xwm ua qauv dav dav. Cov qauv raug txiav txim siab siv MJCF cov lus piav qhia qhov chaw, uas yog raws li XML thiab muab tso ua ke siv qhov tshwj xeeb optimizing compiler. Ntxiv rau MJCF, lub cav txhawb nqa cov ntaub ntawv hauv URDF universal (Unified Robot Description Format). MuJoCo kuj tseem muab GUI rau kev sib tham sib 3D pom ntawm cov txheej txheem simulation thiab ua cov txiaj ntsig siv OpenGL.
Cov yam ntxwv tseem ceeb:
- Simulation nyob rau hauv generalized coordinates, tsis suav nrog kev sib koom ua txhaum cai.
- Rov qab dynamics, detectable txawm nyob rau hauv lub xub ntiag ntawm kev sib cuag.
- Siv cov txheej txheem convex los tsim cov kev txwv sib koom ua ke hauv lub sijhawm tas mus li.
- Muaj peev xwm los teeb tsa ntau yam kev txwv, nrog rau kev sib txhuam mos thiab kev sib txhuam qhuav.
- Simulation ntawm particle systems, fabrics, ropes thiab cov khoom muag.
- Actuators (actuators), suav nrog lub cev muaj zog, lub tog raj kheej, cov leeg, leeg thiab crank mechanisms.
- Solvers raws li Newton, conjugate gradient thiab Gauss-Seidel txoj kev.
- Muaj peev xwm siv pyramidal lossis elliptical kev sib txhuam cones.
- Siv koj txoj kev xaiv ntawm Euler lossis Runge-Kutta cov lej sib xyaw.
- Multi-threaded discretization thiab finite sib txawv approximation.
Tau qhov twg los: opennet.ru