environments simulated in MuJoCo
Project description
Mujoco Environments
mj_envs
is a collection of environments/tasks simulated with the Mujoco physics engine and wrapped in the OpenAI gym
API.
Getting Started
mj_envs
uses git submodules to resolve dependencies. Please follow steps exactly as below to install correctly.
- We recommend installaition within a conda environement. If you don't have one yet, create one using
conda create -n robohive python=3
conda activate robohive
-
Clone this repo on branch
branch_name
with pre-populated submodule dependenciesa. Most users -
git clone -c submodule.mj_envs/sims/myo_sim.update=none --branch v0.4dev --recursive https://github.com/vikashplus/mj_envs.git
b. myoSuite developers: you must have access to myo_sim(private repo) -
git clone --branch <branch_name> --recursive https://github.com/vikashplus/mj_envs.git
-
Install package using
pip
$ cd mj_envs
$ pip install -e .[a0] #with a0 binding for realworld robot
$ pip install -e . #simulation only
OR
Add repo to pythonpath by updating ~/.bashrc
or ~/.bash_profile
export PYTHONPATH="<path/to/mj_envs>:$PYTHONPATH"
- You can visualize the environments with random controls using the below command
$ python mj_envs/utils/examine_env.py -e FrankaReachRandom-v0
FAQ:
- If the visualization results in a GLFW error, this is because
mujoco-py
does not see some graphics drivers correctly. This can usually be fixed by explicitly loading the correct drivers before running the python script. See this page for details. - If FFmpeg isn't found then run
apt-get install ffmpeg
on linux andbrew install ffmpeg
on osx (conda install FFmpeg
causes some issues)
modules
mj_envs contains a variety of environements, which are organized as modules. Each module is a collection of loosely related environements. Following modules are provided at the moment with plans to improve the diversity of the collection.
1. Hand Manipulation Suite (HMS)
HMS contains a collection of environements centered around dexterous manipulation with anthroporphic 24 degrees of freedom Adroit Hand. These environments were designed for the publication: Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations, RSS2018.
Hand-Manipulation-Suite Tasks (video) |
---|
2. More coming soon
Project details
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