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Setup Kinova Grasping

Step 1: Set up Mujoco

Install Mujoco v1.50 (Note: the python package of this version works for python 3++)

http://www.mujoco.org/ (Official website)

https://www.roboti.us/index.html (all downloads)

Note: You will need to register a license key in order to get the simulation engine working. Register as a student and you will get 1 year of free license. Non-commercial license costs $500 for a research lab. (We might want to consider that if we are going to use it in the long run)

After you obtain your license key (mjkey.txt), place one in mjpro150/bin

Configuring environment variables for Mujoco

Create a folder named .mujoco at your home directory

Put your mjpro150 folder (NOT mjpro150_linux) and a duplicate of your license key mjkey.txt inside this folder

Now your ~/.mujoco directory will have both mjpro150 folder and mjkey.txt

Use your text editor to open ~/.bashrc, for example in terminal at home directory, type vim ~/.bashrc

Copy the following command at the end of the code (change “graspinglab” to your computer name)

export LD_LIBRARY_PATH="/home/graspinglab/.mujoco/mjpro150/bin:$LD_LIBRARY_PATH"
export MUJOCO_PY_MJKEY_PATH="/home/graspinglab/.mujoco/mjkey.txt"
export MUJOCO_PY_MJPRO_PATH="/home/graspinglab/.mujoco/mjpro150"

Step 2: Set up Virtual Environment

Next you will set up your virtual environment for the Python packages needed for the project.

Intializing the virtual environment

In the root directory, run:

python3 -m venv venv  # create virtual env
source venv/bin/activate

Setting up the mujoco-py package

Next, you will need to install the mujoco-py package from OpenAI. You'll need to build the package yourself.

Download the source code from https://github.com/openai/mujoco-py/releases/tag/1.50.1.0 and unzip the downloaded folder somewhere

Then, while still in your virtual environment, install the mujoco-py as follows:

cd /path/to/your/mujoco-py-1.50.1.0

pip install -e .

Ensure that mujoco-py is working by opening up a shell with your virtualenv and importing the package:

python  # enter python shell

# now in python shell
import mujoco_py  # make sure this import works!

After getting mujoco-py up and running, you can install the rest of the needed packages:

# make sure you're in the root directory of the project!
pip install -r requirements.txt

Congrats! Your environment should be up and running now! You can try running the following code as a final sanity check:

cd gym-kinova-gripper  # have to be inside this folder for the script to work

python teleop.py

Step 3: Enjoy!