DeepMind yatsegula magwero a injini yotsatsira njira zakuthupi MuJoCo (Multi-Joint dynamics with Contact) ndikusintha pulojekitiyi kukhala njira yotseguka yachitukuko, zomwe zikutanthawuza kuthekera kwa anthu ammudzi kutenga nawo mbali pa chitukuko. Ntchitoyi ikuwoneka ngati nsanja yofufuzira ndi mgwirizano pa matekinoloje atsopano okhudzana ndi kuyerekezera kwa robot ndi njira zovuta. Khodiyo imasindikizidwa pansi pa layisensi ya Apache 2.0. Mapulatifomu a Linux, Windows ndi macOS amathandizidwa.
MuJoCo ndi laibulale yomwe imagwiritsa ntchito injini yofanizira zochitika zakuthupi ndikutengera zomwe zimagwirizana ndi chilengedwe, zomwe zitha kugwiritsidwa ntchito popanga maloboti, zida za biomechanical ndi intelligence system, komanso kupanga zithunzi, makanema ojambula pamanja ndi makompyuta. masewera. Injiniyo imalembedwa mu C, sigwiritsa ntchito kugawa kukumbukira, ndipo imakonzedwa kuti igwire bwino ntchito.
MuJoCo imakupatsani mwayi wowongolera zinthu pamlingo wocheperako, pomwe mumapereka kulondola kwakukulu komanso luso lachitsanzo. Zitsanzo zimatanthauzidwa pogwiritsa ntchito chilankhulo chofotokozera za mawonekedwe a MJCF, chomwe chimachokera pa XML ndikupangidwa pogwiritsa ntchito makina apadera okonzekera. Kuphatikiza pa MJCF, injiniyo imathandizira kutsitsa mafayilo mu URDF yapadziko lonse (Unified Robot Description Format). MuJoCo imaperekanso GUI yowonetsera masewero a 3D a kayeseleledwe kachitidwe ndi kupereka zotsatira pogwiritsa ntchito OpenGL.
Zofunikira zazikulu:
- Kuyerekezera m'makonzedwe amtundu uliwonse, osaphatikizapo kuphwanya mgwirizano.
- Zosintha zosinthika, zowoneka ngakhale pamaso pa kukhudzana.
- Kugwiritsa ntchito pulogalamu ya convex kupanga zopinga zolumikizana munthawi yopitilira.
- Kutha kukhazikitsa zoletsa zosiyanasiyana, kuphatikiza kukhudza kofewa komanso kukangana kowuma.
- Kuyerekezera kachitidwe ka tinthu, nsalu, zingwe ndi zinthu zofewa.
- Ma actuators (ma actuators), kuphatikiza ma motors, masilindala, minofu, tendon ndi ma crank mechanisms.
- Ma Solvers otengera Newton, conjugate gradient ndi njira za Gauss-Seidel.
- Kuthekera kogwiritsa ntchito piramidi kapena elliptical friction cones.
- Gwiritsani ntchito njira zophatikizira manambala za Euler kapena Runge-Kutta.
- Multi-threaded discretization ndi kuyerekeza kusiyana komaliza.
Source: opennet.ru