O le kamupani a Google DeepMind, lauiloa mo ana atinaʻe i le matata o le atamai faʻapitoa ma le fausiaina o fesoʻotaʻiga neural e mafai ona taʻalo i taaloga komepiuta i le tulaga o tagata, faʻasalalau le mauaina o se afi mo le faʻataʻitaʻiina o faiga faʻaletino MuJoCo (Multi-Joint dynamics with Contact). O le afi e faʻatatau i le faʻataʻitaʻiina o fausaga faʻapitoa e fegalegaleai ma le siosiomaga, ma faʻaaogaina mo faʻataʻitaʻiga i le atinaʻeina o robots ma faiga faʻapitoa, i le tulaga aʻo leʻi faʻatinoina le atinaʻeina o tekonolosi i le tulaga o se masini maeʻa.
O le code o lo'o tusia i le C/C++ ma o le a fa'asalalau i lalo ole laisene Apache 2.0. Linux, Windows ma macOS platforms e lagolagoina. O le galuega i le tatalaina o tulafono faʻavae uma e fesoʻotaʻi ma le poloketi ua fuafuaina e faʻamaeʻaina i le 2022, mulimuli ane o le a sui MuJoCo i se faʻataʻitaʻiga atinaʻe tatala, lea e faʻaalia ai le avanoa e auai ai i le atinaʻeina o sui o tagata lautele.
MuJoCo o se faletusi o loʻo faʻatinoina se faʻataʻitaʻiga faʻaogaina o le tino e mafai ona faʻaaogaina i le suʻesuʻeina ma le atinaʻeina o robots, masini biomechanical ma masini aʻoaʻoga, faʻapea foʻi ma le fatuina o ata, animation ma taaloga komepiuta. O le masini faʻataʻitaʻiga e sili ona lelei mo le maualuga o le faʻatinoga ma faʻatagaina le maualalo o le faʻaogaina o mea faitino aʻo tuʻuina atu le saʻo maualuga ma le mauoa 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 fa'ata'ita'iga fa'akalafi mo va'aiga 3D fegalegaleai o le fa'agasologa fa'ata'ita'iga ma le tu'uina atu o fa'ai'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