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README_env.md

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Environment

System Requirements

The experiments are conducted on Ubuntu 16.04, with Python version 3.6.9, Driver Version: 430.64, Cuda 9.0.

MuJoCo

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.

Note that the MuJoCo version used in this environment is: mujoco-py=2.0.2.9
Follow the instrcution in mujoco-py

  1. Download the MuJoCo version 2.0 binaries for Linux.
  2. Extract the downloaded mujoco200_linux.zip directory into ~/.mujoco/mujoco200.
  3. Download the MuJoCo license file mjkey.txt license and put in directory ~/.mujoco
  4. pip install -r requirement.txt

Troubleshooting

Please check the main page and issue of mujoco-py for troubleshooting.

After installation, the .bashrc should contains something like:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/dcpu/.mujoco/mujoco200/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia-430
export OMP_NUM_THREADS=1

and some package need to be installed before install mujoco by my experience:
sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3