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Installation

Prerequisites

  • Ubuntu 18.04 or macOS
  • Python 3.7 (pybullet may not work with Python 3.8 or higher)
  • Mujoco 2.0

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

For macOS Catalina, you first have to make libmujoco200.dylib and libglfw.dylib in ~/.mujoco/mujoco200/bin executable. Otherwise, the files cannot be opened because they are from an unidentified developer. To resolve this issue, navigate to the directory ~/.mujoco/mujoco200/bin, right click each file, click open in the menu, and click the open button.

  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 next line for macOS
brew install gcc
brew install openmpi

# Run the rest for both Ubuntu and macOS
pip install -r requirements.txt
  1. Download MuJoCo-Unity binary The Unity binary will be automatically downloaded if the Unity binary is found in furniture/binary directory. You can also manually download pre-compiled Unity binary for your OS from this link and extract files to furniture directory.
# inside the furniture directory
unzip [os]_binary.zip

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

  1. Download demonstrations for imitation learning Download generated demonstrations demos.zip from this link and extract files to furniture directory. The demonstration pickle files can be found in furniture/demos/Sawyer_[furniture name]/. The following python script downloads and unzip the demonstrations.
python scripts/download_demos.py
  1. Use virtual display for headless servers (optional) 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 furniture.demo_manual --virtual_display :1