MuJoCo环境介绍,许可证获取方法可参考强化学习环境:MUJOCO 安装踩坑记录(2020年7月18日)。在强化学习环境:MUJOCO 安装踩坑记录(2020年7月18日)中,博主详细介绍了他安装MUJOCO时遇到的问题与尝试解决问题采取的方法,最终他的问题得到了解决。按博主在文未的原话:“每个人的系统环境都有所差别,所以如果不成功,可以挑选上面的各种解决方案进行尝试,如果还有问题,也欢迎留言探讨!”我在ubuntu系统下就无法借鉴它的方法,但是还是给我指了一个正确的方向,并让我相信,这个问题很普遍,并且是可以解决的。有幸经过几步尝试,我也成功安装了MUJOCO,本博客给出安装的过程,遇到的问题以及解决的方法。
系统相关配置如下:
- ubuntu 18.04 / x86_64
- anaconda3
- python 3.6
- MuJoCo 200
Install MuJoCo
- Obtain a 30-day free trial on the MuJoCo website or free license if you are a student. The license key will arrive in an email with your username and password.
- Download the MuJoCo version 2.0 binaries for Linux or https://www.roboti.us/download/mujoco200_macos.zip.
- Unzip the downloaded mujoco200 directory into ~/.mujoco/mujoco200, and place your license key (the mjkey.txt file from your email) at ~/.mujoco/mjkey.txt.
- 设置环境变量:
gedit ~/.bashrc
,在打开的文件未尾添加export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.mujoco/mujoco200/bin
- 测试activation key:
cd ~/.mujoco
cp mjkey.txt ~/.mujoco/mujoco200/bin/
cd ~/.mujoco/mujoco200/bin/
./simulate
MuJoCo Pro version 2.00
note: 第一步的获取许可证时,点击 MuJoCo website,填写相关信息和接收文件的邮箱,等待系统给你发mjkey.txt,然后进行第2,3步。获取步骤可参考Installing Mujoco py on Linux中的相关步骤。
Install and use mujoco-py
- 建立conda虚拟环境
conda create -n mujoco-env python=3.6
conda activate mujoco-env
conda install pytorch torchvision -c soumith
pip install -r gym matplotlib pybullet stable-baselines3 # https://github.com/ikostrikov/pytorch-a2c-ppo-acktr-gail
- 在虚拟环境中安装mujoco
conda activate mujoco-env
pip install mujoco_py==2.0.2.8
- 测试mujoco_py
conda activate mujoco-env python >> import mujoco_py
报错1:Missing GLFW
解决:终端执行安装缺失依赖包sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
继续还报错2:FileNotFoundError: [Errno 2] No such file or directory: 'patchelf'
解决:终端执行安装缺失依赖包sudo apt-get install patchelf
再试:
conda activate mujoco-env
python
>>> import mujoco_py
running build_ext
>>> import os
>>> mj_path, _ = mujoco_py.utils.discover_mujoco()
>>> xml_path = os.path.join(mj_path, 'model', 'humanoid.xml')
>>> model = mujoco_py.load_model_from_path(xml_path)
>>> sim = mujoco_py.MjSim(model)
>>> print(sim.data.qpos)
[0. 0. 1.4 1. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0. 0. 0. 0. 0. ]
>>> sim.step()
>>> print(sim.data.qpos)
[-1.12164337e-05 7.29847036e-22 1.39975300e+00 9.99999999e-01
1.80085466e-21 4.45933954e-05 -2.70143345e-20 1.30126513e-19
-4.63561234e-05 -1.88020744e-20 -2.24492958e-06 4.79357124e-05
-6.38208396e-04 -1.61130312e-03 -1.37554006e-03 5.54173825e-05
-2.24492958e-06 4.79357124e-05 -6.38208396e-04 -1.61130312e-03
-1.37554006e-03 -5.54173825e-05 -5.73572648e-05 7.63833991e-05
-2.12765194e-05 5.73572648e-05 -7.63833991e-05 -2.12765194e-05]
>>>
至此,mujoco安装成功!!!
by windSeS 2021-4-8
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