DeepMind yakavhura iyo kodhi kodhi yeinjini yekuteedzera maitiro emuviri MuJoCo (Multi-Joint dynamics neContact) uye yakaendesa chirongwa ichi kune yakavhurika yekusimudzira modhi, izvo zvinoreva mukana wenhengo dzenharaunda kutora chikamu mukusimudzira. Iyo purojekiti inoonekwa sepuratifomu yekutsvagisa uye kubatana pamatekinoroji matsva ane hukama nekuenzanisa kwemarobhoti uye maitiro akaomarara. Iyo kodhi inoburitswa pasi peiyo Apache 2.0 rezinesi. Linux, Windows uye macOS mapuratifomu anotsigirwa.
MuJoCo iraibhurari inoshandisa injini yekutevedzera maitiro emuviri uye kuenzanisira zvimiro zvakatsanangurwa zvinodyidzana nenharaunda, iyo inogona kushandiswa mukugadzira marobhoti, biomechanical zvishandiso uye artificial intelligence system, pamwe nekugadzira mifananidzo, animation uye komputa. mitambo. Injini yakanyorwa muC, haishandise dynamic memory allocation, uye yakagadziridzwa kuita kwakanyanya.
MuJoCo inokutendera iwe kuti ushandise zvinhu padanho rakaderera, uku uchipa huchokwadi hwepamusoro uye hukuru hwekuenzanisira kugona. Mamodheru anotsanangurwa uchishandisa iyo MJCF inotsanangura mutauro wechiitiko, iyo yakavakirwa paXML uye inounganidzwa uchishandisa yakakosha optimizing compiler. Pamusoro peMJCF, injini inotsigira kurodha mafaera muURDF yepasirese (Unified Robot Tsanangudzo Format). MuJoCo inopawo GUI yekudyidzana 3D yekuona maitiro ekufananidza uye kupa mhedzisiro uchishandisa OpenGL.
Zvinhu zvakakosha:
- Simulation mu generalized coordes, kusasanganisa kutyorwa kwemajoini.
- Reverse dynamics, inoonekwa kunyangwe pamberi pekusangana.
- Kushandisa convex programming kugadzira zvipingamupinyi zvakabatana munguva inoenderera.
- Kugona kuseta zvirambidzo zvakasiyana, zvinosanganisira kubata kwakapfava uye kukakavara kwakaoma.
- Simulation yezvimedu masisitimu, machira, tambo uye zvinyoro zvinhu.
- Actuators (actuator), kusanganisira motors, silinda, tsandanyama, tendon uye crank michina.
- Solvers yakavakirwa paNewton, conjugate gradient uye Gauss-Seidel nzira.
- Mikana yekushandisa pyramidal kana elliptical friction cones.
- Shandisa sarudzo yako yeEuler kana Runge-Kutta nhamba yekubatanidza nzira.
- Multi-threaded discretization uye magumo musiyano fungidziro.
Source: opennet.ru