B-TLe Loc
Installation instructions
Install Anaconda3 if you haven't done so already
wget -q https://repo.anaconda.com/archive/Anaconda3-2022.10-Linux-x86_64.sh
bash Anaconda3-2022.10-Linux-x86_64.shInstall MuJoCo 2.1.0
mkdir .mujoco
cd .mujoco
wget -q https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz
tar -xf mujoco210-linux-x86_64.tar.gz
cd ..Clone the B-TLeLoc git repo
git clone https://gitlab.surrey.ac.uk/rf00350/B-TLeLoc.gitBuild the b-tle conda environment and install the custom hexapod package
cd B-TLeLoc
conda env create -f requirements.yml
conda activate b-tle
conda develop hexapodAdd the following lines to your .bashrc (replace $USERNAME with your username)
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/$USERNAME/.mujoco/mujoco210/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.soRunning instructions
To render the model on a test environment
python b-tle_test.pyTo run the numerical evaluation script
python eval.pyTo run the model training script
python b-tle_train.py