mujoco安装

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参考链接：

Linux系统 Ubuntu18.04 成功安装Mujoco、mujoco_py 详细步骤、安装教程（也可在虚拟环境中安装Mujoco ）

一、安装mujoco

1.1 注册并获取 MuJoCo 密钥：

getid_linux.exe运行方法：

cd Downloads
chmod a+x getid_linux (给予执行权限)
./getid_linux

1.2 下载合适版本的mujoco

https://www. roboti.us/index.html

1.3 解压并复制密钥

150版本：

mkdir ~/.mujoco   
cp mjpro150_linux.zip ~/.mujoco
cd .mujoco  
unzip mjpro150_linux.zip
cd Downloads    
cp mjkey.txt ~/.mujoco/
cp mjkey.txt ~/.mujoco/mjpro150/bin

200版本：

mkdir ~/.mujoco                                    # 创建文件夹
cp mujoco200_linux.zip的文件路径 ~/.mujoco         # 复制
cd .mujoco                                         # 进入隐藏文件夹
unzip mujoco200_linux.zip                          # 解压
mv mujoco200_linux mujoco200                       # 将mujoco200_linux重命名为mujoco200
cd Downloads                                       # 进入下载将mjkey.txt的文件夹
unzip MuJoCo\ Pro\ Trial.zip            # 
# 复制秘钥到路径
cp mjkey.txt ~/.mujoco/
cp mjkey.txt ~/.mujoco/mujoco200/bin

1.4 测试是否安装成功

cd ~/.mujoco/mjpro150/bin
./simulate ../model/humanoid.xml

报错：

./simulate: error while loading shared libraries: libmujoco150.so: cannot open shared object file: No such file or directory

修改：

cd ~/.mujoco/mjpro150/bin
LD_LIBRARY_PATH=. ./simulate ../model/humanoid.xml

或者：

gedit ~/.bashrc
export MUJOCO_KEY_PATH=~/.mujoco${MUJOCO_KEY_PATH}
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/zhqy/.mujoco/mjpro150/bin
source ~/.bashrc
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/zhqy/.mujoco/mjpro150/bin

重新打开命令行则可以使用不加路径的方式启动成功。

二、Install and use mujoco-py

下载解压并安装依赖：

git clone https://github.com/openai/mujoco-py.git
cd mujoco-py
sudo apt-get update
sudo apt-get install libgl1-mesa-dev libgl1-mesa-glx libosmesa6-dev python3-pip python3-numpy python3-scipy
pip3 install -r requirements.txt
sudo python3 setup.py install

error:

open(self.unique_name, "wb").close() PermissionError:

解决：

I fixed it by installing mujoco-py-1.50.1.56 instead of mujoco-py-1.50.1.68.
>> pip3 install mujoco-py==1.50.1.56
1.50.1.56 version does not require lockfile package.

200:

sudo pip3 install -U 'mujoco-py<2.1,>=2.0'

150:

sudo pip3 install -U 'mujoco-py<1.50.2,>=1.50.1'

测试：

$ python3
>>> import mujoco_py                # 可能会出现一长串字符，等候一会儿
>>> 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)