Tested in Ubuntu 16.04 and Ubuntu 18.04 with python 3.5, 3.6, 3.7.
Prepare python3 virtual environment:
sudo apt-get install python3-pip
sudo pip3 install virtualenv
virtualenv --system-site-packages -p python3 ./venv
source ./venv/bin/activate
pip install --upgrade -r requirements.txt
Install this repo and requirements:
git clone https://github.com/cacgt/librl.git
git checkout develop
pip install --upgrade -r requirements.txt
You may need to run
export PYTHONPATH="{PYTHONPATH}:[the parent folder of librl repo]"
The Ubuntu package is too new for PyDart2, so we install it manually.
First install the requirements following the instructions of Install DART from source at https://dartsim.github.io/install_dart_on_ubuntu.html. We compile and install it manually, because PyDart2 only supports Dart before 6.8.
git clone git://github.com/dartsim/dart.git
cd dart
git checkout tags/v6.7.2
mkdir build
cd build
cmake ..
make -j4
sudo make install
Someitmes you may need to link library manually.
echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/lib:/usr/lib:/usr/local/lib" >> ~/.bashrc
Installing PyDart2 through pip does not work, so we install it manually.
git clone https://github.com/sehoonha/pydart2.git
cd pydart2
python setup.py build build_ext
python setup.py develop
This is a slightly modified version of DartEnv. The changes include:
- Make nodisplay as default.
- Add a state property for convenience.
To install it,
git clone https://github.com/gtrll/dartenv.git
cd dartenv
git checkout nodisplay
pip install -e .[dart]
Firstly, go to the main folder.
cd librl
Run a single script, e.g., Policy Gradient in scripts/pg.py
python scripts/pg.py
Run scripts/pg.py with a set of different configurations given as a dict named range_common in scripts/pg_ranges.py
python batch_run.py pg -r common