I-DeepMind ivule ikhowudi yomthombo we-injini yokulinganisa iinkqubo zomzimba i-MuJoCo (i-Multi-Joint dynamics kunye noQhagamshelwano) kwaye idlulisele iprojekthi kwimodeli yophuhliso evulekileyo, oku kuthetha ukuba kunokwenzeka ukuba amalungu oluntu athathe inxaxheba kuphuhliso. Le projekthi ibonwa njengeqonga lophando kunye nentsebenziswano kubuchwephesha obutsha obunxulumene nokulinganisa iirobhothi kunye neendlela ezinzima. Ikhowudi ipapashwe phantsi kwelayisensi ye-Apache 2.0. Iiplatifti zeLinux, zeWindows kunye neMacOS ziyaxhaswa.
I-MuJoCo lithala leencwadi elisebenzisa i-injini yokulinganisa iinkqubo zomzimba kunye nomzekelo wezakhiwo ezicacileyo ezisebenzisana nokusingqongileyo, ezinokuthi zisetyenziswe kuphuhliso lweerobhothi, izixhobo ze-biomechanical kunye neenkqubo zobuntlola ezenziweyo, kunye nokudala imizobo, oopopayi kunye nekhompyutha. imidlalo. I-injini ibhalwe kwi-C, ayisebenzisi ulwabiwo lwememori eguqukayo, kwaye ilungiselelwe ukusebenza okuphezulu.
I-MuJoCo ikuvumela ukuba ulawule izinto ezikwinqanaba eliphantsi, ngelixa ubonelela ngokuchaneka okuphezulu kunye nobuchule obukhulu bokwenza imodeli. Iimodeli zichazwa kusetyenziswa ulwimi lwenkcazo yendawo ye-MJCF, esekelwe kwi-XML kwaye ihlanganiswe kusetyenziswa i-compiler ekhethekileyo yokuphucula. Ukongeza kwi-MJCF, injini isekela ukulayisha iifayile kwi-URDF yendalo yonke (iFomathi yeNkcazo yeRobhothi edibeneyo). I-MuJoCo ikwabonelela nge-GUI yokubonisa i-3D esebenzayo yenkqubo yokulinganisa kunye nokunikezelwa kweziphumo kusetyenziswa i-OpenGL.
Izinto eziphambili:
- Ukulinganisa kukulungelelanisa ngokubanzi, ngaphandle kokuphulwa ngokubambisana.
- I-Reverse dynamics, ibonakala naphambi koqhagamshelwano.
- Ukusebenzisa inkqubo yeconvex ukuyila imiqobo emanyeneyo ngexesha eliqhubekayo.
- Ukukwazi ukuseta izithintelo ezahlukeneyo, kubandakanywa ukubamba okuthambileyo kunye nokukhuhlana okomileyo.
- Ukulinganisa iinkqubo zamasuntswana, amalaphu, iintambo kunye nezinto ezithambileyo.
- I-Actuator (ii-activators), kubandakanywa iimotor, iisilinda, izihlunu, ii-tendon kunye ne-crank mechanisms.
- Izisombululi ezisekwe kwiNewton, i-conjugate gradient kunye neendlela zeGauss-Seidel.
- Amathuba okusebenzisa iicones ze-pyramidal okanye i-elliptical friction.
- Sebenzisa ukhetho lwakho lwe-Euler okanye iindlela ze-Runge-Kutta zokudibanisa amanani.
- I-discretization enemisonto emininzi kunye nokuqikelelwa komlinganiselo olinganiselweyo.
umthombo: opennet.ru