Khampani ea Google DeepMind, e tummeng ka tsoelo-pele ea eona lefapheng la bohlale ba maiketsetso le kaho ea marang-rang a neural a khonang ho bapala lipapali tsa k'homphieutha boemong ba batho, e phatlalalitse ho sibolloa ha enjene ea ho etsisa mekhoa ea 'mele ea MuJoCo (Multi-Joint dynamics with Contact). ). Enjene e ikemiselitse ho etsa mohlala oa meaho e boletsoeng e sebelisanang le tikoloho, 'me e sebelisoa bakeng sa ketsiso ho nts'etsopele ea liroboto le litsamaiso tsa bohlale ba maiketsetso, sethaleng pele ho kengoa ts'ebetsong ea theknoloji e tsoetseng pele ka mokhoa oa sesebelisoa se felileng.
Khoutu e ngotsoe ka C / C ++ 'me e tla hatisoa tlas'a laesense ea Apache 2.0. Li-platform tsa Linux, Windows le macOS lia tšehetsoa. Mosebetsi o bulehileng oa litaba tsa projeke o lebelletsoe ho phetheloa ka 2022, ka mor'a moo MuJoCo e tla fetela molemong oa ntlafatso o bulehileng o lumellang litho tsa sechaba ho nka karolo ntlafatsong.
MuJoCo ke laebrari e sebelisang enjine ea ketsiso ea tšebetso e akaretsang e ka sebelisoang ho etsa lipatlisiso le nts'etsopele ea liroboto, lisebelisoa tsa biomechanical le sistimi ea ho ithuta ka mochini, hammoho le ho theheng litšoantšo, lipopae le lipapali tsa khomphutha. Enjene ea ketsiso e ntlafalitsoe bakeng sa ts'ebetso e phahameng haholo mme e lumella ho qhekella ha ntho ea boemo bo tlase ha e ntse e fana ka ho nepahala ho phahameng le bokhoni bo bongata ba papiso.
Mehlala e hlalosoa ho sebelisoa puo ea tlhaloso ea sebaka sa MJCF, e thehiloeng ho XML mme e hlophisitsoe ka mokhoa o khethehileng oa ho ntlafatsa. Ho phaella ho MJCF, enjene e tšehetsa ho kenya lifaele ho URDF ea bokahohle (Format ea Tlhaloso ea Robot e Kopaneng). MuJoCo e boetse e fana ka GUI bakeng sa ponelopele ea 3D e sebetsang ea ts'ebetso ea ketsiso le ho fana ka liphetho ho sebelisoa OpenGL.
Lintlha tsa bohlokoa:
- Ketsiso ka likhokahanyo tse akaretsang, ntle le litlolo tse kopaneng.
- Reverse dynamics, detectable esita le ka pel'a ho kopana.
- Ho sebelisa lenaneo la convex ho theha lithibelo tse kopaneng ka nako e tsoelang pele.
- Bokhoni ba ho beha lithibelo tse fapaneng, ho kenyelletsa le ho ama ha bonolo le likhohlano tse omileng.
- Ketsiso ea litsamaiso tsa likaroloana, masela, liropo le lintho tse bonolo.
- Li-actuator (li-activator), ho kenyelletsa le li-motor, li-cylinders, mesifa, li-tendon le mechine ea crank.
- Lisebelisoa tse thehiloeng ho Newton, conjugate gradient le mekhoa ea Gauss-Seidel.
- Monyetla oa ho sebelisa likhoune tsa pyramidal kapa elliptical friction.
- Sebelisa khetho ea hau ea mekhoa ea ho kopanya linomoro tsa Euler kapa Runge-Kutta.
- Multi-threaded discretization le khakanyo e lekanyelitsoeng ea phapang.
Source: opennet.ru