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google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control
https://github.com/deepmind/mujoco_mpc
Apache License 2.0
981 stars 148 forks source link

Reproducing Rubik's cube #311

Closed richardrl closed 4 months ago

richardrl commented 6 months ago

Hi all, I am unable to reproduce performance on Rubik's cube with default settings. I also played around with it and typically very little movement happens, a couple fingers just wiggle a bit but cube doesn't really move.

I have heard this is possible because my computer is not fast enough.

If so, is there some setting to freeze real time simulation, but compute the optimal plan offline with a certain number of compute, then play it back in the sim?

thowell commented 6 months ago

The video results for this task are generated with a MacBook Pro with M1 Pro chip.

Make sure you build MJPC in Release mode. For my laptop I needed to change the real time rate to less than 50% (you can do this with '-' key). You can also set the number of rollout trajectories to 10 if your machine has less CPU cores.

richardrl commented 6 months ago

Thank you for the reply I will try the minus sign to slow things down. I was unable to get the vscode instructions working so instead I did:

mkdir build cmake .. make .

Is this release mode or do we need more settings?

thowell commented 6 months ago

This is probably not building in release mode.

The installation instructions on the README provide details for the correct setup using VSCode and extensions.

richardrl commented 6 months ago

Yes I saw those instructions but was not able to follow it. Can you provide more instructions?

  1. I think the first time I opened the project in VSCode I saw the configuration popup, but I don't see it anymore and not sure how to make it come back.
  2. I clicked the wrench to change the activekit to clang12 (this is a must in Ubuntu 20 or it doesnt build). Then I change the button to the right of build to release, and click build. But I get this: image

Even though I set the build target as release, when I check the string, it says this: [proc] Executing command: /usr/bin/cmake --no-warn-unused-cli -DCMAKE_BUILD_TYPE:STRING=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-12 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-12 -S/samsung4tb/mujoco_mpc -B/samsung4tb/mujoco_mpc/build -G Ninja

and at the end it still errors.

I can use this command manually in terminal to build it, but not sure if I am missing performance optimizations necessary to reproduce: rli14@fitzroy:/samsung4tb/mujoco_mpc/build$ CXX=/usr/bin/clang++-12 CC=/usr/bin/clang-12 cmake -DCMAKE_BUILD_TYPE=Release ..

thowell commented 6 months ago

Send me an email so we can get on a call this week and I can help you figure out the build.