Inkampani yakwa-Google i-DeepMind, edume ngentuthuko yayo emkhakheni wezobuhlakani bokwenziwa kanye nokwakhiwa kwamanethiwekhi emizwa akwazi ukudlala imidlalo yekhompiyutha ezingeni lomuntu, imemezele ukutholwa kwenjini yokulingisa izinqubo zomzimba i-MuJoCo (Multi-Joint dynamics with Contact ). Injini ihloselwe ukumodela izakhiwo ezishiwoyo ezisebenzisana nemvelo, futhi isetshenziselwa ukulingisa ekuthuthukisweni kwamarobhothi nezinhlelo zobuhlakani bokwenziwa, esigabeni ngaphambi kokuqaliswa kobuchwepheshe obuthuthukisiwe ngendlela yedivayisi eqediwe.
Ikhodi ibhalwe ku-C/C++ futhi izoshicilelwa ngaphansi kwelayisensi ye-Apache 2.0. Amapulatifomu e-Linux, Windows kanye ne-macOS asekelwa. Umsebenzi ovulekile kukho konke okuqukethwe yiphrojekthi kulindeleke ukuthi uqedwe ngo-2022, ngemuva kwalokho i-MuJoCo izodlulela kumodeli yentuthuko evulekile evumela amalungu omphakathi ukuthi abambe iqhaza ekuthuthukisweni.
I-MuJoCo iyilabhulali esebenzisa injini yokulingisa yenhloso evamile yomzimba engasetshenziswa ocwaningweni nasekuthuthukisweni kwamarobhothi, amadivaysi e-biomechanical nezinhlelo zokufunda zemishini, kanye nasekwakheni izithombe, ukugqwayiza nemidlalo yekhompyutha. Injini yokulingisa ithuthukiselwe ukusebenza okuphezulu futhi ivumela ukukhohliswa kwezinto ezisezingeni eliphansi kuyilapho ihlinzeka ngokunemba okuphezulu namandla okulingisa anothile.
Amamodeli achazwa kusetshenziswa ulimi lwencazelo yesigcawu ye-MJCF, esekelwe ku-XML futhi ehlanganiswe kusetshenziswa inhlanganisela yokuthuthukisa ekhethekile. Ngaphezu kwe-MJCF, injini isekela ukulayisha amafayela ku-URDF yendawo yonke (Ifomethi Yencazelo Yerobhothi Ehlanganisiwe). I-MuJoCo iphinde ihlinzeke nge-GUI yokubonisana nge-3D okusebenzisanayo kwenqubo yokulingisa nokunikezwa kwemiphumela kusetshenziswa i-OpenGL.
Izici ezibalulekile:
- Ukulingisa kuzixhumanisi ezijwayelekile, ngaphandle kokwephulwa okuhlangene.
- I-Reverse Dynamics, ibonakala ngisho nalapho kukhona othintana naye.
- Kusetshenziswa ukuhlelwa kwe-convex ukwenza izithiyo ezihlanganisiwe ngesikhathi esiqhubekayo.
- Ikhono lokusetha imikhawulo ehlukahlukene, kufaka phakathi ukuthinta okuthambile kanye nokungqubuzana okomile.
- Ukulingisa izinhlayiya izinhlelo, izindwangu, izintambo nezinto ezithambile.
- Ama-Actuator (ama-actuator), okuhlanganisa amamotho, amasilinda, imisipha, ama-tendon nezindlela ze-crank.
- Izixazululi ezisuselwe ku-Newton, i-conjugate gradient kanye nezindlela ze-Gauss-Seidel.
- Amathuba okusebenzisa izigaxa ze-pyramidal noma ze-elliptical friction.
- Sebenzisa ukukhetha kwakho kwe-Euler noma izindlela ze-Runge-Kutta zokuhlanganisa izinombolo.
- I-Discretization enemicu eminingi kanye nokulinganisa komehluko olinganiselwe.
Source: opennet.ru