pyrfuniverse

pyrfuniverse is a python package used to interact with RFUniverse simulation environment. It is developed upon ML-Agents and produce new features.

Documentation

Homepage

Note: current branch is under development.

Installation

1. Create a new conda virtual environment and activate it.

conda create -n rfuniverse python=3.8 -y
conda activate rfuniverse

2. Clone this repository and move here in command line.

git clone https://github.com/mvig-robotflow/pyrfuniverse.git
cd pyrfuniverse

3. Install the python requirements.

pip install -r requirements.txt

For users in China, please remember to change mirror by the following command. This can significantly accelerate downloading speed.

pip install -i https://mirrors.aliyun.com/pypi/simple -r requirements.txt

4. Install `pyrfuniverse`.

If you want to use pyrfuniverse without modifying source code, run the following commands to copy source code to your conda directory.

python setup.py install

Otherwise, you may want to modify source code, then run the following command to construct the link in your conda directory.

pip install -e .

Headless mode

If you want to run RFUniverse on ubuntu server, you will need headless mode so that no GUI window will be generated. To fix this, we use virtual display to render on virtual devices, inspired by furniture. You will need the following commands to configure your ubuntu server

sudo apt-get install xserver-xorg libglu1-mesa-dev freeglut3-dev mesa-common-dev libxmu-dev libxi-dev

Then, restart your server and connect your server to a screen. The screen won't render anything, but there must be a display device connecting to your server.

# Configure nvidia-x
sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024

# Configure environment variable
export DISPLAY=:1

# Launch a virtual display
sudo /usr/bin/X :1 &

Here's a demo. I strongly recommend you run this demo first to test your virtual display configuration.

After this, you can use RFUniverse on ubuntu server freely!

zkangning/pyrfuniverse