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SETTING_new.md

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Environment setting

We set our environment as follows:

  1. We already include OpenAI's gym, baselines, mujoco_py in this repository.

    • All cloned from OpenAI's github on Aug. 24th, 2018.

  2. Install Anaconda3 and create bgail environment.

    conda create -n bgail python=3.6
source activate bgail

  3. Install MuJoCo.

    • Obtain a 30-day free trial on the MuJoCo website or free license if you are a student. The license key will arrive in an email with your username and password.
    • Download the MuJoCo version 1.50 binaries for Linux, OSX, or Windows.
    • Unzip the downloaded mjpro150 directory into $HOME/.mujoco/mjpro150, and place your license key (the mjkey.txt file from your email) at $HOME/.mujoco/mjkey.txt.
    • Install mujoco_py.
    cd dependencies/mujoco_py/
LD_LIBRARY_PATH=$HOME/.mujoco/mjpro150/bin pip install -U 'mujoco-py<1.50.2,>=1.50.1'
    • Do the following steps and follow the message.
    $ python
import mujoco_py
from os.path import dirname
model = mujoco_py.load_model_from_path(dirname(dirname(mujoco_py.__file__))  +"/xmls/claw.xml")
sim = mujoco_py.MjSim(model)

print(sim.data.qpos)
# [ 0.  0.  0.  0.  0.  0.  0.  0.  0.  0.  0.  0.]

sim.step()
print(sim.data.qpos)
# [  2.09217903e-06  -1.82329050e-12  -1.16711384e-07  -4.69613872e-11
#   -1.43931860e-05   4.73350204e-10  -3.23749942e-05  -1.19854057e-13
#   -2.39251380e-08  -4.46750545e-07   1.78771599e-09  -1.04232280e-08]

  4. Install Gym.

    cd ../gym/
pip install -e .[classic_control,mujoco]

  5. Install TensorFlow 1.10.0 with GPU support.

    pip install --ignore-installed --upgrade https://storage.googleapis.com/tensorflow/linux/gpu/tensorflow_gpu-1.10.0-cp36-cp36m-linux_x86_64.whl

  6. Install Baselines.

    cd ../baselines/
pip install -e .

  7. Test

    python -m baselines.run --alg=trpo_mpi --env=Hopper-v2
    • Rendering problem: When we add env.render() in line 60 of baselines/trpo_mpi/trpo_mpi.py, we found the following error: 
      ERROR: GLEW initalization error: Missing GL version
      To solve this problem, we use the comment here.

  8. Install h5py and matplotlib.

    conda install h5py matplotlib