MuJoCo: Difference between revisions
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''MuJoCo stands for Multi-Joint dynamics with Contact. It is a physics engine aiming to facilitate research and development in robotics, biomechanics, graphics and animation, and other areas where fast and accurate simulation is needed.<ref>http://www.mujoco.org/</ref>'' | |||
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It is frequently used with the associated Python module <code>mujoco_py</code> as an environment for | It is frequently used with the associated Python module <code>mujoco_py</code> as an environment for reinforcement learning (RL) research. | ||
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==Installation== <!--T:6--> | ==Installation== <!--T:6--> | ||
=== Base | === Base files === <!--T:2--> | ||
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First, the .mujoco folder in your home directory must be set up. MuJoCo '''requires a licence key''' to be placed in | First, the .mujoco folder in your home directory must be set up. MuJoCo '''requires a licence key''' to be placed in | ||
~/.mujoco/mjkey.txt. This key obtained by e-mail after registration. | ~/.mujoco/mjkey.txt. This key is obtained by e-mail after registration. | ||
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The appropriate ( | The appropriate (Linux) MuJoCo distribution must also be downloaded and unzipped into the ~/.mujoco directory from the ''Download'' section of the [https://www.roboti.us/index.html MuJoCo website]. | ||
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The | The Python interface to MuJoCo is the <code>mujoco_py</code> module. Getting it to work requires some special steps because library paths need to be patched. | ||
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After using <code>module</code> to load the desired | After using <code>module</code> to load the desired Python version, you should set up a clean virtual environment: | ||
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|source mujoco_env/bin/activate | |source mujoco_env/bin/activate | ||
}} | }} | ||
1. Install the <code>mujoco_py</code> module. | |||
{{Command | {{Command | ||
|prompt=(mujoco_env) [name@server $] | |prompt=(mujoco_env) [name@server $] | ||
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2. Patch the paths with setrpaths.sh. Use the appropriate python version in the commands below if it is not 3.5: | |||
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3. Run the following command: | |||
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It should have crashed | It should have crashed, but the necessary paths will have been reated to run: | ||
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After that last command, mujoco_py should be ready to use in the virtual environment. If everything installed correctly, the command below should run without any errors: | After that last command, mujoco_py should be ready to use in the virtual environment. If everything is installed correctly, the command below should run without any errors: | ||
{{Command | {{Command | ||
|prompt=(mujoco_env) [name@server $] | |prompt=(mujoco_env) [name@server $] | ||
Revision as of 16:47, 5 June 2018
MuJoCo stands for Multi-Joint dynamics with Contact. It is a physics engine aiming to facilitate research and development in robotics, biomechanics, graphics and animation, and other areas where fast and accurate simulation is needed.[1]
It is frequently used with the associated Python module mujoco_py as an environment for reinforcement learning (RL) research.
Installation
Base files
First, the .mujoco folder in your home directory must be set up. MuJoCo requires a licence key to be placed in ~/.mujoco/mjkey.txt. This key is obtained by e-mail after registration.
The appropriate (Linux) MuJoCo distribution must also be downloaded and unzipped into the ~/.mujoco directory from the Download section of the MuJoCo website.
Your ~/.mujoco folder should now look like this (the version might differ):
[name@server ~]$ ls ~/.mujoco
mjkey.txt mjproj150
mujoco_py
The Python interface to MuJoCo is the mujoco_py module. Getting it to work requires some special steps because library paths need to be patched.
After using module to load the desired Python version, you should set up a clean virtual environment:
[name@server ~]$ mkdir mujoco_env
[name@server ~]$ virtualenv mujoco_env
[name@server ~]$ source mujoco_env/bin/activate
1. Install the mujoco_py module.
(mujoco_env) [name@server $] pip install mujoco_py
2. Patch the paths with setrpaths.sh. Use the appropriate python version in the commands below if it is not 3.5:
(mujoco_env) [name@server $] setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py
(mujoco_env) [name@server $] setrpaths.sh --add_origin --path $HOME/.mujoco
3. Run the following command:
(mujoco_env) [name@server $] python -c "import mujoco_py"
It should have crashed, but the necessary paths will have been reated to run:
(mujoco_env) [name@server $] setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py
After that last command, mujoco_py should be ready to use in the virtual environment. If everything is installed correctly, the command below should run without any errors:
(mujoco_env) [name@server $] python -c "import mujoco_py"