Install all packages and required software as in ./installation run

python setup.py develop

if you need the custom mujoco-py do

python setup_mujoco.py develop

Next you need to set the an environment variable defining where to store and load training data: add export VMPC_DATA_DIR='/your/data/dir' to your ~/.bashrc

start kinect-bridge node: cd visual_mpc/python_visual_mpc/sawyer/visual_mpc_rospkg/launch/bridgeonly.launch

and run ./startkinect.sh

To launch visual MPC run:

roslaunch visual_mpc_rospkg visual_mpc_singletask.launch robot:=<robot_name> exp:=<name_of_folder_inside:visual_mpc/experiments/cem_exp/benchmarks_sawyer>

The parameter exp specifies which configuration file inside :visual_mpc/experiments/cem_exp/benchmarks_sawyer to use.

In order to run rendering remotely on a different machine it is necessary to give remote users access to the x server: Log into graphical session on remote computer and give access by typing: xhost +

Also set the DISPLAY variable export DISPLAY=:0

Go in the root directory of the repo and run:

python python/lsdc/parallel_data_collection.py <name_of_datafolder>

Note: <name_of_datafolder> is the folder-name inside lsdc/pushing_data Each of the folders in pushing_data must have a "/train" and "/test" subdirectory. The hyperparams.py file to specifies how the data-collection is done.

python python/lsdc/utility/benchmarks.py <benchmark_folder_name>