This repository collects the work conducted by a collaboration between UniSa, PoliMi and IDSIA. The repository is thought for students with the aim to provide an environment for the development of master theses projects and some research activities.
This section explains how to setup the environment needed to launch the demos. First, MuJoCo needs to be installed, then some preliminary packages are required for the virtual environment creation.
In order to install MuJoCo you need to:
-
Create a hidden folder:
cd mkdir .mujoco
-
Download MuJoCo library
cd .mujoco wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
-
Extract the MuJoCo downloaded library into the hidden folder
.mujoco
tar -xf mujoco210-linux-x86_64.tar.gz -C . rm mujoco210-linux-x86_64.tar.gz
-
Add these lines to the
.bashrc
file:export LD_LIBRARY_PATH=$HOME/username/.mujoco/mujoco210/bin #substitute username with your username export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia #if nvidia graphic export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so export PATH="$LD_LIBRARY_PATH:$PATH"
-
Source the
.bashrc
file:cd source .bashrc
-
Test the installation:
cd ~/.mujoco/mujoco210/bin ./simulate ../model/humanoid.xml
You will need Pip for the virtual environment packages installation, venv for the virtual environment and some other packages as prerequisites for Mujoco-Py. sudo
can be needed for some installations.
-
Pip
apt install pip
-
Packages needed for Mujoco-Py
apt install libosmesa6-dev libgl1-mesa-glx libglfw3 apt install patchelf gcc apt install python3-dev build-essential libssl-dev libffi-dev libxml2-dev apt install libxslt1-dev zlib1g-dev libglew-dev
-
Python-venv
apt install python3.8-venv
Create a venv and activate it
python3 -m venv venv
source venv/bin/activate
Install via pip the required packages into the virtual environment
python3 -m pip install -r requirements.txt
Clone environment_identification repository
cd
git clone https://bitbucket.org/unisa-polimi-idsia/environment_identification/
Refer to the Readme.md in the Main folder.
- Vincenzo Petrone - UniSa - Automatic Control Group
- Loris Roveda - IDSIA