MuJoCo: Difference between revisions

'''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.''"

It is frequently used with the associated Python module <code>mujoco_py</code> as an environment for Reinforcement Learning research.

__TOC__

=== Base Files === <!--T:2-->

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.

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].

Your ~/.mujoco folder should now look like this (the version might differ):

{{Command

=== mujoco_py === <!--T:3-->

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.

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:

{{Commands

|mkdir mujoco_env

}}

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:

{{Commands

|setrpaths.sh --path $VIRTUAL_ENV/lib/python3.5/site-packages/mujoco_py

}}

Now run the following command:

{{Command|python -c "import mujoco_py"}}

It should have crashed. However, it created the necessary paths to run:

{{Command|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 installed correctly, the command below should run without any errors:

{{Command|python -c "import mujoco_py"}}

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