Kambani yeGoogle DeepMind, ine mukurumbira nekuvandudza kwayo mumunda wehungwaru hwekugadzira uye kuvaka kweneural network inokwanisa kutamba mitambo yemakomputa padanho revanhu, yakazivisa kuwanikwa kweinjini yekutevedzera maitiro emuviri MuJoCo (Multi-Joint dynamics with Contact. ) Injini ine chinangwa chekuenzanisa zvimiro zvakatsanangurwa zvinodyidzana nemhoteredzo, uye inoshandiswa kuenzanisa mukugadzirwa kwemarobhoti uye masisitimu ehungwaru hwekugadzira, pachinhanho chisati chaitwa tekinoroji yakagadziridzwa nenzira yechigadzirwa chakapedzwa.
Iyo kodhi yakanyorwa muC / C ++ uye ichaburitswa pasi peiyo Apache 2.0 rezinesi. Linux, Windows uye macOS mapuratifomu anotsigirwa. Basa rekuvhura-sosi pane zvese zviri muprojekiti rinotarisirwa kupedzwa muna 2022, mushure mezvo MuJoCo ichaenda kune yakavhurika yekusimudzira modhi inobvumira nhengo dzenharaunda kutora chikamu mukusimudzira.
MuJoCo iraibhurari inoshandisa yakajairika-chinangwa chemuviri simulation injini inogona kushandiswa mukutsvaga nekuvandudza marobhoti, biomechanical zvishandiso uye muchina kudzidza masisitimu, pamwe nekugadzira magiraidhi, animation nemitambo yemakomputa. Iyo injini yekunyepedzera inogadziridzwa kuitira kuita kwakanyanya uye inobvumira yakaderera-chikamu chekugadzirisa chinhu uku ichipa yakanyanya kurongeka uye hupfumi hwekunyepedzera 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