Companylọ ọrụ Google nwere DeepMind, onye ama ama maka mmepe ya na ngalaba ọgụgụ isi na iwu nke netwọkụ akwara nwere ike igwu egwuregwu kọmputa na ọkwa mmadụ, kwupụtara nchoputa nke injin maka ịmegharị usoro anụ ahụ MuJoCo (Multi-Joint dynamics with Contact). ). A na-eji injin a na-egosiputa ihe owuwu articulated na-emekọrịta ihe na gburugburu ebe obibi, a na-ejikwa ya maka ịme anwansị na mmepe nke robots na sistemụ ọgụgụ isi, na ọkwa tupu mmejuputa teknụzụ emepụtara n'ụdị ngwaọrụ emechara.
Edere koodu ahụ na C/C++ ma a ga-ebipụta ya n'okpuru ikike Apache 2.0. A na-akwado nyiwe Linux, Windows na macOS. A na-atụ anya na a ga-arụcha ọrụ mepere emepe na ọdịnaya niile nke ọrụ ahụ na 2022, mgbe nke ahụ gasịrị MuJoCo ga-aga n'ụdị mmepe mepere emepe nke na-enye ndị otu obodo ohere isonye na mmepe ahụ.
MuJoCo bụ ọbá akwụkwọ nke na-emejuputa injin simulation usoro anụ ahụ zuru oke nke enwere ike iji na nyocha na mmepe nke robots, ngwaọrụ biomechanical na sistemụ mmụta igwe, yana imepụta eserese, eserese na egwuregwu kọmputa. A na-ahazi injin simulation maka ịrụ ọrụ kachasị ma na-enye ohere ịmegharị ihe dị ala ebe ọ na-enye oke ziri ezi na ikike ịme anwansị bara ụba.
A na-akọwapụta ihe nlere anya site na iji asụsụ nkọwa ọnọdụ MJCF, nke dabere na XML wee chịkọta ya site na iji mkpokọta kachasị mma pụrụ iche. Na mgbakwunye na MJCF, injin na-akwado nbudata faịlụ na URDF zuru ụwa ọnụ (Unified Robot Description Format). MuJoCo na-enyekwa GUI maka nleba anya 3D mmekọrịta nke usoro ịme anwansị na inye nsonaazụ site na iji OpenGL.
Njirimara igodo:
- Simulation na mkpokọta mkpokọta, ewezuga mmebi nkwonkwo.
- Mgbanwe mgbanwe, nke a na-achọpụta ọbụna na ọnụnọ kọntaktị.
- Iji mmemme convex mepụta mmachi jikọtara ọnụ na oge na-aga n'ihu.
- Ikike ịtọ mmachi dị iche iche, gụnyere mmetụ dị nro na esemokwu akọrọ.
- Ịme anwansị nke usoro ihe ọkụkụ, akwa akwa, eriri na ihe dị nro.
- Ndị na-eme ihe (actuators), gụnyere moto, cylinders, mọzụlụ, akwara na usoro crank.
- Ndị na-edozi ihe dabere na Newton, conjugate gradient na ụzọ Gauss-Seidel.
- Enwere ike iji pyramidal ma ọ bụ elliptical friction cones.
- Jiri ụzọ ntinye ọnụọgụgụ nke Euler ma ọ bụ Runge-Kutta nhọrọ gị.
- Mgbanwe nke ọtụtụ eriri na oke ọdịiche dị nso.
isi: opennet.ru