Mujoco-ML

Machine learning project to control a robotic arm in the MuJoCo simulation environment.

How to run the robot simulations

Download the required packages:

pip install -r requirements.txt

Download the repository:

git clone https://github.com/Mowibox/Mujoco-ML.git

Run inside the repository:

python run.py [options]

    usage: run.py [-h] [-env ENV] [-steps STEPS] [-seed SEED] [--render] [--log]

    optional arguments:
      -h, --help    show this help message and exit
      -env ENV      environment [r2,r3,r5] (default: r2)
      -steps STEPS  Execution steps (default: 10,000)
      -seed SEED    Random seed (default: 1000)
      --render      Enable rendering
      --log         Enable data log

Press 'ESC' in the GUI or CTRL-C in the terminal to exit the simulation.

Commands examples:

python run.py -env r2 -seed 1000 -steps 100000 --render

Environments description:

r2: 2D robot with 2 joints
r3: 2D robot with 3 joints
r5: 3D robot with 5 joints

You can log data by using the following command:

python run.py -env r2 -seed 1000 -steps 100000 --log > logfile.csv

This will create a file 'logfile.csv' which stores simulation data points for the 2D robot with 2 joints environment, the random seed n°1000 and 100000 steps