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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.''" | '''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.''" | ||
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It is frequently used with the associated Python module <code>mujoco_py</code> as an environment for Reinforcement Learning research. | It is frequently used with the associated Python module <code>mujoco_py</code> as an environment for Reinforcement Learning research. | ||
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__TOC__ | __TOC__ | ||
==Installation== | ==Installation== <!--T:6--> | ||
=== Base Files === <!--T:2--> | === 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 obtained by e-mail after registration. | ||
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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]. | 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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Your ~/.mujoco folder should now look like this (the version might differ): | Your ~/.mujoco folder should now look like this (the version might differ): | ||
{{Command | {{Command | ||
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=== mujoco_py === <!--T:3--> | === mujoco_py === <!--T:3--> | ||
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The python interface to MuJoCo is the <code>mujoco_py</code> module. Getting it to work re somequires special steps because library paths need to be patched. | The python interface to MuJoCo is the <code>mujoco_py</code> module. Getting it to work re somequires special steps because library paths need to be patched. | ||
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After using <code>module</code> to load the desired python version, you should set up a clean virtualenv and install the <code>mujoco_py</code> module: | After using <code>module</code> to load the desired python version, you should set up a clean virtualenv and install the <code>mujoco_py</code> module: | ||
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{{Commands | {{Commands | ||
|mkdir mujoco_env | |mkdir mujoco_env | ||
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}} | }} | ||
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Now the paths need to be patched with setrpaths.sh. Use the appropriate python version in the commands below if it is not 3.5: | Now the paths need to be patched with setrpaths.sh. Use the appropriate python version in the commands below if it is not 3.5: | ||
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{{Commands | {{Commands | ||
|setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py | |setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py | ||
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}} | }} | ||
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Now run the following command: | Now run the following command: | ||
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{{Command|python -c "import mujoco_py"}} | {{Command|python -c "import mujoco_py"}} | ||
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It should have crashed. However, it created the necessary paths to run: | It should have crashed. However, it created the necessary paths to run: | ||
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{{Command|setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py}} | {{Command|setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py}} | ||
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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 installed correctly, the command below should run without any errors: | ||
{{Command|python -c "import mujoco_py"}} | {{Command|python -c "import mujoco_py"}} | ||
</translate> | </translate> | ||