DeepMind ua tatalaina le code source o le afi mo le faʻataʻitaʻiina o faiga faʻaletino MuJoCo (Multi-Joint dynamics with Contact) ma faʻafeiloaʻi le poloketi i se faʻataʻitaʻiga atinaʻe tatala, lea e faʻaalia ai le avanoa o tagata o le alalafaga e auai i le atinaʻe. O le poloketi o loʻo vaʻaia o se faʻavae mo suʻesuʻega ma le galulue faʻatasi i luga o tekinolosi fou e fesoʻotaʻi ma le faʻataʻitaʻiga o robots ma masini lavelave. O lo'o fa'asalalau le fa'ailoga i lalo ole laisene Apache 2.0. Linux, Windows ma macOS platforms e lagolagoina.
MuJoCo o se faletusi o loʻo faʻaaogaina se afi mo le faʻataʻitaʻiina o gaioiga faʻaletino ma faʻataʻitaʻiina fausaga faʻapitoa e fegalegaleai ma le siosiomaga, lea e mafai ona faʻaaogaina i le atinaʻeina o robots, masini biomechanical ma faiga faʻapitoa, faʻapea foʻi ma le fatuina o ata, animation ma komepiuta. taaloga. O le afi o loʻo tusia i le C, e le faʻaogaina le faʻaogaina o mafaufauga, ma e sili ona lelei mo le maualuga o le faʻatinoga.
MuJoCo faʻatagaina oe e faʻaogaina mea i se tulaga maualalo, aʻo tuʻuina atu le maualuga saʻo ma le tele o faʻataʻitaʻiga gafatia. O faʻataʻitaʻiga o loʻo faʻamatalaina e faʻaaoga ai le gagana faʻamatalaga vaaiga a le MJCF, lea e faʻavae i luga o le XML ma tuʻufaʻatasia e faʻaaoga ai se faʻapipiʻi faʻapitoa faʻapitoa. I le faaopoopo atu i le MJCF, e lagolagoina e le afi le utaina o faila i le URDF lautele (Unified Robot Description Format). O lo'o tu'uina atu fo'i e MuJoCo se GUI mo va'aiga 3D fegalegaleai o le fa'agasologa o fa'ata'ita'iga ma le tu'uina atu o taunu'uga e fa'aaoga ai le OpenGL.
O mea taua:
- Faʻataʻitaʻiga i faʻasalalauga lautele, e le aofia ai le solia o sooga.
- Fa'aliliuina dynamics, fuafuaina e oo lava i le i ai o le fesootaiga.
- Fa'aaogaina polokalame fa'akomepiuta mo se tu'ufa'atasiga o fa'alavelave i taimi fa'aauau.
- Malosiaga e fa'atutu ai fa'alavelave eseese, e aofia ai le pa'i vaivai ma le fa'amamago fesiita'i.
- Fa'ata'ita'iga o faiga fa'apitoa, ie, maea ma mea vaivai.
- Elemene fa'atonu (actuators), e aofia ai afi, pa'u, maso, tendons ma masini pipi.
- Solvers e fa'avae i luga o metotia a Newton, fa'afefiloi gradients ma Gauss-Seidel.
- Avanoa o le fa'aogaina o le pyramidal po'o le elliptical friction cones.
- Faʻaaogaina o le filifiliga o metotia tuʻufaʻatasiga numera a Euler poʻo Runge-Kutta.
- Multithreaded discretization ma approximation i le auala o eseesega i'uga.
puna: opennet.ru