Part5-RL-with-MuJoCo210.md

A minimalist guide to a few frameworks⁠—on Ubuntu and Vector computing⁠—for the person who was born yesterday

By a novice for the novice

Part 5 - RL with MuJoCo 2.10

The following instructions are for macOS Big Sur (11.6.1) on a 2020 Intel MacBook Pro

Everything after a $ is entered on a terminal; everything after >>> is passed to a Python interpreter

Download and install mujoco210

Download and install the latest release (also see this page)

cd ~
wget https://mujoco.org/download/mujoco210-macos-x86_64.tar.gz
tar -xf mujoco210-macos-x86_64.tar.gz
mkdir .mujoco
mv mujoco210 ~/.mujoco/
rm mujoco210-macos-x86_64.tar.gz

Run a simulation

cd ~/.mujoco/mujoco210/bin/
./simulate ../model/cloth.xml

Recompile executables

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Create a simple scene

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Wrap the simulation into a gym Python class

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Run a stable_baseline3 agent in the custom MuJoCo gym

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Work carried out @ University of Toronto's Dynamic Systems Lab / Vector Institute / Mitacs Elevate