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installation.md

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Installation

Prerequisites

  • Ubuntu 18.04 or macOS
  • Python 3.6
  • Mujoco 2.0
  • Unity 2018.3.14f1 (x86_64)

Installation

  1. Install mujoco 2.0 and add the following environment variables into ~/.bashrc or ~/.zshrc
# download mujoco 2.0
$ wget https://www.roboti.us/download/mujoco200_linux.zip -O mujoco.zip
$ unzip mujoco.zip -d ~/.mujoco
$ mv ~/.mujoco/mujoco200_linux ~/.mujoco/mujoco200

# copy mujoco license key `mjkey.txt` to `~/.mujoco`

# add mujoco to LD_LIBRARY_PATH
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.mujoco/mujoco200/bin

# for GPU rendering (replace 418 with your nvidia driver version)
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia-418

# only for a headless server
$ export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so:/usr/lib/nvidia-418/libGL.so
  1. Install python dependencies
# Run the next line for Ubuntu
$ sudo apt-get install libgl1-mesa-dev libgl1-mesa-glx libosmesa6-dev patchelf libopenmpi-dev libglew-dev python3-pip python3-numpy python3-scipy

# Run the rest for both Ubuntu and macOS
$ pip install -r requirements.txt

# for RL
$ pip install -r requirements.dev.txt
  1. Download MuJoCo-Unity binary Download pre-compiled Unity binary from this link and extract files to furniture directory.
# inside the furniture directory
$ unzip binary.zip

Inside furniture/binary there should be Furniture.app for macOS and Furniture.x86_64 and Furniture_Data folder for Ubuntu.

Virtual display (on headless machines)

On servers, you don’t have a monitor. Use this to get a virtual monitor for rendering. Set the --virtual_display flag to :1 when you run the environment.

# Run the next line for Ubuntu
$ sudo apt-get install xserver-xorg libglu1-mesa-dev freeglut3-dev mesa-common-dev libxmu-dev libxi-dev

# Configure nvidia-x
$ sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024

# Launch a virtual display
$ sudo /usr/bin/X :1 &

# Set virtual display flag
$ python -m demo_manual --virtual_display :1